AVT Guppy. Technical Manual. V February Allied Vision Technologies GmbH Taschenweg 2a D Stadtroda / Germany

Transcription

1 AVT Guppy Technical Manual V February 2007 Allied Vision Technologies GmbH Taschenweg 2a D Stadtroda / Germany

2 Legal notice For customers in the U.S.A. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. However there is no guarantee that interferences will not occur in a particular installation. If the equipment does cause harmful interference to radio or television reception, the user is encouraged to try to correct the interference by one or more of the following measures: Reorient or relocate the receiving antenna. Increase the distance between the equipment and the receiver. Use a different line outlet for the receiver. Consult a radio or TV technician for help. You are cautioned that any changes or modifications not expressly approved in this manual could void your authority to operate this equipment. The shielded interface cable recommended in this manual must be used with this equipment in order to comply with the limits for a computing device pursuant to Subpart B of Part 15 of FCC Rules. For customers in Canada This apparatus complies with the Class B limits for radio noise emissions set out in the Radio Interference Regulations. Pour utilisateurs au Canada Cet appareil est conforme aux normes classe B pour bruits radioélectriques, spécifiées dans le Règlement sur le brouillage radioélectrique. Life support applications These products are not designed for use in life support appliances, devices, or systems where malfunction of these products can reasonably be expected to result in personal injury. Allied customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify Allied for any damages resulting from such improper use or sale. Trademarks Unless stated otherwise, all trademarks appearing in this document of Allied Vision Technologies are brands protected by law. Warranty The information provided by Allied Vision Technologies is supplied without any guarantees or warranty whatsoever, be it specific or implicit. Also excluded are all implicit warranties concerning the negotiability, the suitability for specific applications or the non-breaking of laws and patents. Even if we assume that the information supplied to us is accurate, errors and inaccuracy may still occur. Copyright All texts, pictures and graphics are protected by copyright and other laws protecting intellectual property. It is not permitted to copy or modify them for trade use or transfer, nor may they be used on web sites. Allied Vision Technologies GmbH 02/2007 All rights reserved. Managing Director: Mr. Frank Grube Tax ID: DE Support: Taschenweg 2A D Stadtroda, Germany Tel.: +49 (0) Fax: +49 (0) info@alliedvisiontec.com 2

3 Contents Introduction... 8 Document history... 8 Conventions used in this manual... 9 Styles... 9 Symbols... 9 Before operation Declarations of conformity...11 Safety instructions...13 Reference documents applicable in the United States Reference documents applicable in Europe Reference documents applicable in Japan Safety instructions Safety instructions for board level cameras Environmental conditions Guppy types and highlights...18 System components...21 Old CS-/C-Mounting New CS-/C-Mounting Guppy board level cameras IR cut filter Camera lenses Specifications...26 Guppy F-033B Guppy F-033C Guppy F-033B BL (board level) Guppy F-033C BL (board level) Guppy F-036B Guppy F-036C Guppy F-046B Guppy F-046C Guppy F-080B Guppy F-080C Guppy F-080B BL (board level) Guppy F-080C BL (board level) Spectral sensitivity Camera dimensions

4 Guppy standard housing (old CS-/C-Mounting) Guppy standard housing (new CS-/C-Mounting) Guppy board level: dimensions Guppy board level: CS-Mount Guppy board level: C-Mount Guppy board level: M12-Mount Tripod adapter Cross section: C-Mount (old CS-/C-Mounting) Cross section: C-Mount (new CS-/C-Mounting) Cross section: CS-Mount (old CS-/C-Mounting) Cross section: CS-Mount (new CS-/C-Mounting) Description of the data path...67 Block diagrams of the cameras Black and white cameras (CCD and CMOS) Color cameras (CCD and CMOS) Sensor Horizontal and vertical mirror function (only Guppy F-036) White balance One-push automatic white balance Automatic white balance Manual gain Auto gain Setting the brightness (black level or offset) Auto shutter Look-up table (LUT) and gamma function Loading a LUT into the camera Binning (b/w models) x and 4 x binning x vertical binning and 4 x vertical binning x horizontal binning and 4 x horizontal binning x full binning and 4 x full binning HDR (high dynamic range) (GUPPY F-036 only) Advanced registers for high dynamic range mode (HDR) (GUPPY F-036 only) BAYER pattern (raw data output) Serial interface Camera interfaces...98 IEEE 1394 port pin assignment Board level camera: IEEE 1394 port pin assignment Camera I/O pin assignment Board level camera: I/O pin assignment Status LEDs On LED (green) Status LED Operating the camera

5 Control and video data signals Input Trigger Input modes Trigger delay Outputs IO_OUTP_CTRL Output modes Board level cameras: inputs and outputs Board level cameras: pulse-width modulation PWM: minimal and maximal periods and frequencies PWM: Examples in practice Pixel data Controlling image capture Global shutter Pipelined global shutter Trigger modi Trigger delay Trigger delay advanced register Exposure time (shutter) and offset Exposure time of CMOS sensor (GUPPY F-036) Example GUPPY F Camera offsets Example GUPPY F Extended shutter One-Shot One-shot command on the bus to start of exposure End of exposure to first packet on the bus Multi-shot ISO_Enable / Free-Run Asynchronous broadcast Jitter at start of exposure User profiles Video formats, modes and bandwidth GUPPY F-025B / GUPPY F-025C GUPPY F-029B / GUPPY F-029C GUPPY F-033B/ GUPPY F-033C and board level versions F-033B BL/F-033C BL GUPPY F-036B/ GUPPY F-036C GUPPY F-046B / GUPPY F-046C GUPPY F-080B / GUPPY F-080C and board level versions F-080B BL/F-080C BL Area of interest (AOI) Autofunction AOI Frame rates

6 GUPPY F GUPPY F GUPPY F-033 and board level versions GUPPY F GUPPY F GUPPY F-080 and board level versions How does bandwidth affect the frame rate? Test images Loading test images Test images b/w cameras Test images for color cameras Test image 1 (Mono8 mode) Configuration of the camera Camera_Status_Register Example Sample program Configuration ROM Implemented registers Camera initialize register Inquiry register for video format Inquiry register for video mode Inquiry register for video frame rate and base address Inquiry register for basic function Inquiry register for feature presence Inquiry register for feature elements Inquiry register for absolute value CSR offset address Status and control register for feature Feature control error status register Video mode control and status registers for Format_ Quadlet offset Format_7 Mode_ Quadlet offset Format_7 Mode_ Format_7 control and status register (CSR) Advanced features Version information inquiry Advanced feature inquiry Camera status Maximum resolution Time base Extended shutter Test images Look-up tables (LUT) Input/output pin control Delayed integration enable Auto shutter control Auto gain control Autofunction AOI

7 Trigger delay Mirror image (only Guppy F-036) Pulse-width modulation (board level cameras only) Soft Reset User profiles Error codes Reset of error codes Stored settings GPDATA_BUFFER Firmware update Glossary Index

8 Introduction Introduction Document history Version Date Remarks V New Manual - RELEASE status V RoHS conformity; minor corrections PRE_V Minor corrections Input characteristics: Added description to input voltage (Table 38: Input characteristics on page 106) Added Guppy F-036B/C Correction in Chapter Multi-shot on page 135 New CAD drawing in Figure 18: Camera dimensions (new CS-/ C-Mounting) on page 57. New CAD drawing in Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64. New CAD drawing in Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66. New CS-Mount and C-Mount adapter in Chapter Guppy types and highlights on page 18. Added Guppy F-33B/C BL (board level version) Changed camera status register (Table 94: Camera status register on page 191) PRE_V Minor corrections Added Guppy F-080B/C BL (board level version) Added new features Guppy-F036B/C V Minor corrections Table 1: Document history 8

9 Introduction Conventions used in this manual To give this manual an easily understood layout and to emphasize important information, the following typographical styles and symbols are used: Styles Style Function Example Bold Programs, inputs or highlighting bold important things Courier Code listings etc. Input Upper case Register REGISTER Italics Modes, fields Mode Parentheses and/or blue Links (Link) Symbols Table 2: Styles Note This symbol highlights important information. Caution This symbol highlights important instructions. You have to follow these instructions to avoid malfunctions. Caution-ESD This symbol highlights important ESD instructions. Only qualified personnel is allowed to install and operate components marked with this symbol. www This symbol highlights URLs for further information. The URL itself is shown in blue. Example: 9

10 Introduction Before operation We place the highest demands for quality on our cameras. This Technical Manual is the guide to the installation and setting up of the camera for operation. You will also find the specifications and interfaces here. Note Please read through this manual carefully before operating the camera. 10

11 Declarations of conformity Declarations of conformity Allied Vision Technologies declares under its sole responsibility that the following products Category name Digital camera (IEEE 1394) Model name Guppy F-025B Guppy F-025C Guppy F-029B Guppy F-029C Guppy F-033B Guppy F-033C Guppy F-033B BL (board level) Guppy F-033C BL (board level) Guppy F-036B Guppy F-036C Guppy F-046B Guppy F-046C Guppy F-080B Guppy F-080C Guppy F-080B BL (board level) Guppy F-080C BL (board level) Table 3: Model names to which this declaration relates are in conformity with the following standard(s) or other normative document(s): EN EN EN FCC Class B RoHS (2002/95/EC) following the provisions of 89/336/EEC directive(s), amended by directive 91/263 EEC, 92/31/EEC and 93/68/EEC. 11

12 Declarations of conformity Note Customer samples may not comply with above regulations. 12

13 Safety instructions Safety instructions Note There are no switches or parts inside the camera that require adjustment. The guarantee becomes void upon opening the camera casing. If the product is disassembled, reworked or repaired by other than a recommended service person, AVT or its suppliers will take no responsibility for the subsequent performance or quality of the camera. The camera does NOT generate dangerous voltages internally. However, because the IEEE 1394a standard permits cable power distribution at voltages higher than 24 V, various international safety standards apply. Reference documents applicable in the United States The reference documents include Information Processing and Business Equipment, UL 478 National Electric Code, ANSI/NFPA 70 Standard for the Protection of Electronic Computer/Data-Processing Equipment, ANSI/NFPA 75 Reference documents applicable in Europe The reference documents include materials to ensure European Union CE marking as follows: Telecommunications Terminal Equipment (91/263/EEC) EMC Directive (89/339/EEC) CE Marking Directive (93/68/EEC) LOW Voltage Directive (73/23/EEC) as amended by the CE Marking Reference documents applicable in Japan The reference documents include: Electronic Equipment Technology Criteria by the Ministry of Trading and Industry (Similar to NFPA 70) 13

14 Safety instructions Wired Electric Communication Detailed Law 17 by the Ministry of Posts and Telecom Law for Electric Equipment Dentori law issued by the Ministry of Trading and Industry Fire law issued by the Ministry of Construction Safety instructions Caution Make sure NOT to touch the shield of the camera cable connected to a computer and the ground terminal of the lines at the same time. Use only DC power supplies with insulated cases. These are identified by having only TWO power connectors. Although IEEE 1394a is functionally plug and play, the physical ports may be damaged by excessive ESD (electrostatic discharge), when connected under powered conditions. It is good practice to bring the metal part, which is the shield of the IEEE 1394 cable, in contact with the housing of the camera (before plugging it into the camera) and, at the other end, in contact with metal parts of the computer, before plugging it into the port of the computer. This ensures that excessive charge can flow safely to ground. If you feel uncomfortable with the previous advice, or if you have no knowledge about the connectivity of an installation, we strongly recommend powering down all systems before connecting or disconnecting a camera. 14

15 Safety instructions Safety instructions for board level cameras Note Read the Guppy Technical Manual and this safety instructions before use. Abuse or misapplication of the camera may result in limited warranty or cancelation of warranty. Caution-ESD Board level cameras: ESD warnings Only qualified personnel is allowed to install and operate the Board level cameras. Board level camerass are delivered without housing. Handle the sensor board and main board with care. Do not bend the boards. Do not touch the components or contacts on a board. Hold a board by its edges. Sensor board and main board are sensitive to electrostatic discharge. To avoid possible damage, handle all static-sensitive boards and components in a static-safe work area. Follow the procedures below. ESD (electrostatic discharge): Static electricity can damage the sensor board or the main board of your Board level cameras. To prevent static damage, discharge static electricity from your body before you touch any of your Board level cameras s electronic components, such as sensor board or main board. To do so, use a static-safe workarea with static-dissipative mat and wear a static-dissipative wrist strap. Do not hold any components of your Board level cameras against your clothing. Even if you are wearing a wrist strap, your body is grounded but your clothes are not. Do not remove the sensor board and main board from its anti-static packaging unless your body is grounded. ESD shielding: To protect the boards from radiation of other modules or devices use a special ESD protective housing. 15

16 Safety instructions Caution Board level cameras: General Warnings Be sure that all power to your board level cameras is switched off, before mounting the sensor board or making connections to the camera. Do not connect or disconnect any cables during an electrical storm. Do not use your board level cameras during an electrical storm. To help avoid possible damage to the sensor board or main board, wait 5 seconds after power is switched off, before connecting or disconnecting any cable to the board level cameras. Ensure that nothing rests on the cables of your board level cameras. Keep your board level cameras away from radiators and heat sources. Do not spill food or liquids on your board level cameras. Caution Board level cameras: Loading Avoid any mechanical forces to the board level cameras, the boards and its components, especially torsional, tensile and compressive forces. Any of these forces may result in damage of the board level cameras, the boards and its components. To avoid damages of the boards, provide cables with an external pull relief so that no force is applied to the connectors itself. Caution Board level cameras: Dirty environments Always use clean boards. To protect the boards from dirt like dust, liquids or swarf always use the board level cameras only in clean room environment or use a protective housing. 16

17 Safety instructions Environmental conditions Housing temperature (when camera in use): + 5 C C Ambient temperature during storage: - 10 C C Relative humidity: 20 % 80 % without condensation Protection (for cased models): IP 30 Protection (for board level): IP 00 17

18 Guppy types and highlights Guppy types and highlights With Guppy cameras, entry into the world of digital image processing is simpler and more cost-effective than ever before. With the new GUPPY, Allied Vision Technologies presents a whole series of attractive digital camera entry-level models of the FireWire type. These products offer an unequalled price-performance relationship and make the decision to switch from using analogue to digital technology easier than ever before. The AVT Guppy family consists of six very compact IEEE 1394 C-Mount cameras, which are equipped with highly sensitive high-quality sensors (CCD, CMOS). Each of these cameras is available in black/white and color versions. A large selection of different sensor sizes (type 1/2, type 1/3) and resolutions (VGA, SVGA, XGA) ensures the suitability of the cameras for all applications. The Guppy family consists of the following models: GUPPY type Sensor Picture size Frame rates GUPPY F-025B/C Type 1/3 SONY ICX404AL/AK Interlaced EIA CCD imager (NTSC) 508 (h) x 492 (v) up to 30 fps (60 fields per second) GUPPY F-029B/C GUPPY F-033B/C and board level version GUPPY F-036B/C GUPPY F-046B/C GUPPY F-080B/C and board level version Type 1/3 SONY ICX405AL/AK Interlaced CCIR CCD imager Type 1/3 Sony ICX424AL/AQ Progressive Scan CCD imager Type 1/3 Micron Imaging MT9V022 Global Shutter CMOS imager Type 1/2 Sony ICX415AL/AQ Progressive Scan CCD imager Type 1/3 Sony ICX 204AL/AK Progressive Scan CCD imager Table 4: GUPPY camera types (PAL) 500 (h) x 582 (v) (VGA) 656 (h) x 494 (v) up to 25 fps (50 fields per second) up to 60 fps (WideVGA) 752 (h) x 480 (v) up to 64 fps (SVGA) 780 (h) x 582 (v) (XGA) 1032 (h) x 778 (v) up to 49 fps up to 30 fps Operating in 8-bit mode (CCD b/w only), the cameras ensure very high quality images under almost all circumstances. The GUPPY is equipped with an asynchronous trigger shutter as well as true partial scan, and integrates numerous useful and intelligent smart features for image processing. 18

19 Guppy types and highlights Old CS-/C-Mounting Color models are equipped with an optical filter to eliminate the influence of infrared light hitting the sensor. Please be advised that, as a side effect, this filter reduces sensitivity in the visible spectrum. B/w models are delivered with sensor protection glass to ensure maximum sensitivity. In certain applications and depending on the lighting source and optics, the use of either IR blocking or passing filter may be required to improve the image quality. CS-Mount models have the filter or protection glass mounted directly in front of the sensor. Taking out the filter or protection glass is not possible at customer site. Ask your dealer for a camera with the respective filter already installed. C-Mount models have the filter or protection glass mounted in the CS- to C-Mount extension adapter. Ask your dealer for an extension adapter with the intended filter already mounted. Removing the C-Mount adapter opens the front section of the camera. This greatly enhances the risk for dust or particles to migrate on the sensor's protection glass. In order to remove the adapter: Hold the camera so that the adapter points downwards while changing the adapter. Use optical cleaning tissues for cleaning the sensor's protection glass if needed. Never use compressed air for cleaning purposes. Ask your dealer if you are not familiar with these procedures. New CS-/C-Mounting starting with serial no. 06/ Color models are equipped with an optical filter to eliminate the influence of infrared light hitting the sensor. Please be advised that, as a side effect, this filter reduces sensitivity in the visible spectrum. B/w models are delivered with sensor protection glass to ensure maximum sensitivity. In certain applications and depending on the lighting source and optics, the use of either IR blocking or passing filter may be required to improve the image quality. All models have the filter or protection glass mounted directly in the CS-Mount adapter. (Standard delivery is a CS-Mount camera). Taking out the filter or protection glass is not possible at customer site. Ask your dealer for a camera with the respective filter already installed. In order to get a C-Mount camera, screw the 5 mm C-Mount adapter onto the CS-Mount camera. Unscrew the 5 mm C-Mount adapter to get again a CS-Mount camera. Removing the CS-Mount adapter opens the front section of the camera. This greatly enhances the risk for dust or particles to migrate on the sensor's protection glass. In order to remove the adapter: Hold the camera so that the adapter points downwards while changing the adapter. Use optical cleaning tissues for cleaning the sensor's protection glass if needed. Never use compressed air for cleaning purposes. Ask your dealer if you are not familiar with these procedures. Table 5: Old and new CS-/C-Mounting of GUPPY cameras 19

20 Guppy types and highlights Warning Mount/dismount lenses and filters in a dust-free environment, and do not use compressed air (which can push dust into cameras and lenses). Use only optical quality tissue/cloth if you must clean a lens or filter. 20

21 System components System components Old CS-/C-Mounting Each camera package consists of the following system components: AVT Guppy C-Mount camera 4.5 m 1394 standard cable Color version: Jenofilt 217 IR cut filter (built-in) B/w version: only protection glass (no filter) CD with driver and documentation Optional: tripod adapter Optional: 4.5 m latching cable Optional: HIROSE connector for cable mount HR25 7TP-8S Figure 1: System components 21

22 System components New CS-/C-Mounting Each camera package consists of the following system components: AVT Guppy CS-Mount camera 4.5 m 1394 standard cable Color version: Jenofilt 217 IR cut filter (built-in) B/w version: only protection glass (no filter) 5 mm C-Mount adapter CD with driver and documentation Optional: tripod adapter Optional: 4.5 m latching cable Optional: HIROSE connector for cable mount HR25 7TP-8S Figure 2: System components 22

23 System components Guppy board level cameras Each camera package consists of the following system components: Safety instructions and warranty Safety instructions and warranty Caution Guppy board level cameras: Please read the Guppy Technical Manual and this safety instructions before use. AVT Guppy board level camera (C-Mount) or CD with driver and documentation (only 1 per shipment) Only qualified personnel is allowed to install and operate the Guppy board level camera. Guppy board level cameras are delivered without housing. Handle the sensor board and main board with care. Do not touch the components or contacts on a board. Hold a board by its edges. Sensor board and main board are sensitive to electrostatic discharge. To avoid possible damage, handle all static-sensitive boards and components in a static-safe work area. Follow the procedures below. ESD (electrostatic discharge): Static electricity can damage the sensor board or the main board of your Guppy board level camera. To prevent static damage, discharge static electricity from your body before you touch any of your Guppy board level camera s electronic components, such as sensor board or main board. To do so, use a static-safe workarea with static-dissipative mat and wear a static-dissipative wrist strap. Do not hold any components of your Guppy board level camera against your clothing. Even if you are wearing a wrist strap, your body is grounded but your clothes are not. Do not remove the sensor board and main board from its anti-static packaging unless your body is grounded. Be sure that all power to your Guppy board level camera is switched off, before mounting the sensor board or making connections to the camera. Do not connect or disconnect any cables during an electrical storm. Do not use your Guppy board level camera during an electrical storm. To help avoid possible damage to the sensor board or main board, wait 5 seconds after power is switched off, before connecting or disconnecting any cable to the Guppy board level camera. Ensure that nothing rests on the cables of your Guppy board level camera. Keep your Guppy board level camera away from radiators and heat sources. Do not spill food or liquids on your Guppy board level camera. Abuse or misapplication of the camera may result in limited warranty or cancelation of warranty. GUPPY board level: Safety and warranty V Safety instructions and warranty AVT Guppy board level camera (M12-Mount) Figure 3: System components: Guppy board level camera 23

24 System components IR cut filter The following illustration shows the spectral transmission of the IR cut filter: Figure 4: Spectral transmission of Jenofilt 217 Note To demonstrate the properties of the camera, all examples in this manual are based on the FirePackage OHCI API software and the SmartView application. www These utilities can be obtained from Allied Vision Technologies (AVT). A free version of SmartView is available for download at: Note The camera also works with all IIDC (formerly DCAM) compatible IEEE 1394 programs and image processing libraries. 24

25 System components Camera lenses AVT offers different lenses from a variety of manufacturers. The following table lists selected image formats depending on camera type, distance and the focal width of the lens. Focal Width for type 1/2 sensors Guppy F-046 Distance = 0.5 m Distance = 1 m 4.8 mm 0.5 m x 0.67 m 1.0 m x 1.33 m 8 mm 0.3 m x 0.4 m 0.6 m x 0.8 m 12 mm m x 0.26 m 0.39 m x 0.58 m 16 mm m x 0.19 m 0.29 m x 0.38 m 25 mm 9.1 cm x 12.1 cm 18.2 cm x 24.2 cm 35 mm 6.4 cm x 8.51 cm 12.8 cm x cm 50 mm 4.4 cm x 5.85 cm 8.8 cm x 11.7 cm Table 6: Focal width vs. field of view (Guppy F-046) Focal Width for type 1/3 sensors Guppy F-025/029/033/036/080 Distance = 0.5 m Distance = 1 m 4.8 mm m x 0.5 m 0.75 m x 1 m 8 mm 0.22 m x 0.29 m 0.44 m x 0.58 m 12 mm m x 0.19 m 0.29 m x 0.38 m 16 mm 11 cm x 14.7 cm 22 cm x 29.4 cm 25 mm 6.9 cm x 9.2 cm 13.8 cm x 18.4 cm 35 mm 4.8 cm x 6.4 cm 9.6 cm x 12.8 cm 50 mm 3.3 cm x 4.4 cm 6.6 cm x 8.8 cm Table 7: Focal width vs. field of view (Guppy F-025/029/033/036/080) 25

26 Specifications Specifications Note H-binning means horizontal binning. V-binning means vertical binning. Full binning means horizontal + vertical binning 2 x binning means: 2 neighboring pixels are combined. 4 x binning means: 4 neighboring pixels are combined. Binning average means: signals form adjacent pixels are combined by averaging. Binning increases signal-to-noise ratio (SNR), but decreases resolution. Guppy F-033B Feature Specification Image device ICX424AL (diag. 6 mm; type 1/3) progressive scan SONY IT CCD Effective picture elements 658 (H) x 494 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 640 x 480 pixels (Format_0) 656 x 494 pixels (Format_7 Mode_0) Cell size 7.4 µm x 7.4 µm ADC 10 bit Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps variable frame rates in Format_7 up to 58 fps Gain control Manual: 0-24 db ( db/step); auto gain (select. AOI) Shutter speed µs (~67s); auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, advanced feature: Trigger_Mode_15 (bulk); trigger delay Table 8: Specification Guppy F-033B 26

27 Specifications Feature Specification Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), LUT (look-up table) one configurable input, three configurable outputs, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, single port Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Dimensions 48.2 mm x 30 mm x 30 mm (L x W x H); w/o tripod and lens Mass 50 g (without lens) Operating temperature + 5 C C housing temperature (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Regulations EN 55022, EN61000, EN55024, FCC Class B, DIN ISO 9022, RoHS (2002/95/EC) Options (old) Board level OEM version C-Mount: IR cut filter / IR pass filter available as CS- to C- Mount adapter. CS-Mount: Consult factory or your dealer for specific filters. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Options (new) Board level OEM version C/CS-Mount: IR cut filter / IR pass filter available as CS-Mount adapter. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 8: Specification Guppy F-033B Note The design and specifications for the products described above may change without notice. 27

28 Specifications Guppy F-033C Feature Specification Image device ICX424AQ (diag. 6 mm; type 1/3) progressive scan SONY IT CCD Effective picture elements 658 (H) x 494 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 640 x 480 pixels (Format_0) 656 x 494 pixels (Format_7 Mode_0) Cell size 7.4 µm x 7.4 µm ADC 10 bit Color modes Raw8 Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps variable frame rates in Format_7 up to 58 fps Gain control Manual: 0-24 db ( db/step); auto gain (select. AOI) Shutter speed µs (~67s); auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, advanced feature: Trigger_Mode_15 (bulk); trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (auto white balance), LUT (look-up table) one configurable input, three configurable outputs, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, single port Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Dimensions 48.2 mm x 30 mm x 30 mm (L x W x H); w/o tripod and lens Mass 50 g (without lens) Operating temperature + 5 C C housing temperature (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Table 9: Specification Guppy F-033C 28

29 Specifications Feature Specification Regulations EN 55022, EN61000, EN55024, FCC Class B, DIN ISO 9022, RoHS (2002/95/EC) Options (old) Board level OEM version AR coated protection glass AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Options (new) Board level OEM version C/CS-Mount: AR coated protection glass available as CS-Mount adapter. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 9: Specification Guppy F-033C Note The design and specifications for the products described above may change without notice. 29

30 Specifications Guppy F-033B BL (board level) Feature Specification Image device ICX424AL (diag. 6 mm; type 1/3) progressive scan SONY IT CCD Effective picture elements 658 (H) x 494 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 640 x 480 pixels (Format_0) 656 x 494 pixels (Format_7 Mode_0) Cell size 7.4 µm x 7.4 µm ADC 14 bit Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps variable frame rates in Format_7 up to 58 fps Gain control Manual: 0-24 db ( db/step); auto gain (select. AOI) Shutter speed µs (~67s); auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, advanced feature: Trigger_Mode_15 (bulk); trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), LUT (look-up table) 4 free configurable inputs/outputs with pulse width modulation (PWM) for each, RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, two ports (daisy chain) Power requirements DC 8 V - 36 V via IEEE 1394 cable or 10-pin connector Power consumption Less than 2 watt (@ 12 V DC) Dimensions 35 mm x 35 mm (sensor board); 35 mm x 70 mm (main board); without lens Mass 20 g (without lens) Operating temperature + 5 C C (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Table 10: Specification Guppy F-033B BL (board level) 30

31 Specifications Feature Specification Regulations EN 55022, EN61000, EN55024, FCC Class B, RoHS (2002/95/EC) Options C-Mount (built-in IR cut filter / protection glass) M12-Mount (built-in IR cut filter / protection glass) M12 lenses 1394 adapter cable I/O adapter cable AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 10: Specification Guppy F-033B BL (board level) Note The design and specifications for the products described above may change without notice. 31

32 Specifications Guppy F-033C BL (board level) Feature Specification Image device ICX424AQ (diag. 6 mm; type 1/3) progressive scan SONY IT CCD Effective picture elements 658 (H) x 494 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 640 x 480 pixels (Format_0) 656 x 494 pixels (Format_7 Mode_0) Cell size 7.4 µm x 7.4 µm ADC 14 bit Color modes Raw8 Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps variable frame rates in Format_7 up to 58 fps Gain control Manual: 0-24 db ( db/step); auto gain (select. AOI) Shutter speed µs (~67s); auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, advanced feature: Trigger_Mode_15 (bulk); trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (auto white balance), LUT (look-up table) 4 free configurable inputs/outputs with pulse width modulation (PWM) for each, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, two ports (daisy chain) Power requirements DC 8 V - 36 V via IEEE 1394 cable or 10-pin connector Power consumption Less than 2 watt (@ 12 V DC) Dimensions 35 mm x 35 mm (sensor board); 35 mm x 70 mm (main board); without lens Mass 20 g (without lens) Operating temperature + 5 C C (without condensation) Table 11: Specification Guppy F-033C BL (board level) 32

33 Specifications Feature Specification Storage temperature - 10 C C ambient temperature (without condensation) Regulations EN 55022, EN61000, EN55024, FCC Class B, RoHS (2002/95/EC) Options C-Mount (built-in IR cut filter / protection glass) M12-Mount (built-in IR cut filter / protection glass) M12 lenses 1394 adapter cable I/O adapter cable AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 11: Specification Guppy F-033C BL (board level) Note The design and specifications for the products described above may change without notice. 33

34 Specifications Guppy F-036B Feature Image device Effective picture elements Lens mount Picture sizes Specification MT9V022 (diag mm; type 1/3) progressive scan Micron CMOS 752 (H) x 480 (V) C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) 640 x 480 pixels (Format_0) 752 x 480 pixels (Format_7 Mode_0) 376 x 480 pixels (Format_7 Mode_1, 2 x H-binning average) 752 x 240 pixels (Format_7 Mode_2, 2 x V-binning average) 376 x 240 pixels (Format_7 Mode_3, 2 x full binning average) 188 x 480 pixels (Format_7 Mode_4, 4 x H-binning average) 752 x 120 pixels (Format_7 Mode_5, 4 x V-binning average) 188 x 120 pixels (Format_7 Mode_6, 4 x full binning average) Cell size 6.0 µm x 6.0 µm ADC 10 bit Data path 8 bit Frame rates 15 fps; 30 fps; 60 fps variable frame rates in Format_7 from 10 fps up to 64 fps Gain control Manual: 0-12 db (average ~0.25 db/step) for details see Chapter Manual gain on page 77 Shutter speed 20 µs ~979 ms External trigger shutter Trigger_Mode_0, trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions LUT (look-up table), mirror, binning (average) one configurable input, three configurable outputs, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, single port Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Table 12: Specification Guppy F-036B 34

35 Specifications Feature Dimensions Mass Operating temperature Storage temperature Regulations Specification 48.2 mm x 30 mm x 30 mm (L x W x H); w/o tripod and lens 50 g (without lens) + 5 C C housing temperature (without condensation) - 10 C C ambient temperature (without condensation) EN 55022, EN61000, EN55024, FCC Class B, DIN ISO 9022, RoHS (2002/95/EC) Options (old) C-Mount: IR cut filter / IR pass filter available as CS- to C- Mount adapter. CS-Mount: Consult factory or your dealer for specific filters. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Options (new) C/CS-Mount: IR cut filter / IR pass filter available as CS-Mount adapter. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 12: Specification Guppy F-036B 35

36 Specifications Guppy F-036C Feature Specification Image device MT9V022 (diag mm; type 1/3) progressive scan Micron CMOS Effective picture elements 752 (H) x 480 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 640 x 480 pixels (Format_0) 752 x 480 pixels (Format_7 Mode_0) Cell size 6.0 µm x 6.0 µm ADC 10 bit Data path 8 bit Frame rates 15 fps; 30 fps; 60 fps variable frame rates in Format_7 from 10 fps up to 64 fps Gain control Manual: 0-12 db (average ~0.25 db/step) for details see Chapter Manual gain on page 77 Shutter speed 20 µs ~979 ms External trigger shutter Trigger_Mode_0, trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AWB (auto white balance), LUT (look-up table), mirror one configurable input, three configurable outputs, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, single port Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Dimensions 48.2 mm x 30 mm x 30 mm (L x W x H); w/o tripod and lens Mass 50 g (without lens) Operating temperature + 5 C C housing temperature (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Regulations EN 55022, EN61000, EN55024, FCC Class B, DIN ISO 9022, RoHS (2002/95/EC) Table 13: Specification Guppy F-036C 36

37 Specifications Feature Specification Options (old) AR coated protection glass AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Options (new) C/CS-Mount: AR coated protection glass available as CS-Mount adapter. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 13: Specification Guppy F-036C 37

38 Specifications Guppy F-046B Feature Specification Image device ICX415AL (diag. 8 mm; type 1/2) progressive scan SONY IT CCD Effective picture elements 782 (H) x 582 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 640 x 480 pixels (Format_0) 780 x 582 pixels (Format_7 Mode_0) Cell size 8.3 µm x 8.3 µm ADC 12 bit Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps variable frame rates in Format_7 up to 49.4 fps Gain control Manual: 0-24 db ( db/step); auto gain (select. AOI) Shutter speed µs (~67s); auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, advanced feature: Trigger_Mode_15 (bulk); trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), LUT (look-up table) one configurable input, three configurable outputs, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, single port Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Dimensions 48.2 mm x 30 mm x 30 mm (L x W x H); w/o tripod and lens Mass 50 g (without lens) Operating temperature + 5 C C housing temperature (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Table 14: Specification Guppy F-046B 38

39 Specifications Feature Specification Regulations EN 55022, EN61000, EN55024, FCC Class B, DIN ISO 9022, RoHS (2002/95/EC) Options (old) Board level OEM version C-Mount: IR cut filter / IR pass filter available as CS- to C- Mount adapter. CS-Mount: Consult factory or your dealer for specific filters. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Options (new) Board level OEM version C/CS-Mount: IR cut filter / IR pass filter available as CS-Mount adapter. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 14: Specification Guppy F-046B Note The design and specifications for the products described above may change without notice. 39

40 Specifications Guppy F-046C Feature Specification Image device ICX415AQ (diag. 8 mm; type 1/2) progressive scan SONY IT CCD Effective picture elements 782 (H) x 582 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 640 x 480 pixels (Format_0) 780 x 582 pixels (Format_7 Mode_0) Cell size 8.3 µm x 8.3 µm ADC 12 bit Color modes Raw8 Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps variable frame rates in Format_7 up to 49.4 fps Gain control Manual: 0-24 db ( db/step); Auto gain (select. AOI) Shutter speed µs (~67s); Auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, Advanced feature: Trigger_Mode_15 (bulk); Trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (auto white balance), LUT (look-up table) one configurable input, three configurable outputs, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, single port Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Dimensions 48.2 mm x 30 mm x 30 mm (L x W x H); w/o tripod and lens Mass 50 g (without lens) Operating temperature + 5 C C housing temperature (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Table 15: Specification Guppy F-046C 40

41 Specifications Feature Specification Regulations EN 55022, EN61000, EN55024, FCC Class B, DIN ISO 9022, RoHS (2002/95/EC) Options (old) Board level OEM version AR coated protection glass AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Options (new) Board level OEM version C/CS-Mount: AR coated protection glass available as CS-Mount adapter. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 15: Specification Guppy F-046C Note The design and specifications for the products described above may change without notice. 41

42 Specifications Guppy F-080B Feature Specification Image device ICX204AL (diag. 6 mm; type 1/3) progressive scan SONY IT CCD Effective picture elements 1034 (H) x 778 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 1024 x 768 pixels (Format_1) supporting all smaller fixed formats 1032 x 778 (Format_7 Mode_0) Cell size 4.65 µm x 4.65 µm ADC 12 bit Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps variable frame rates in Format_7 up to 30 fps Gain control Manual: 0-24 db ( db/step); auto gain (select. AOI) Shutter speed µs (~67s); auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, advanced feature: Trigger_Mode_15 (bulk); image transfer by command; trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), LUT (look-up table) one configurable input, three configurable outputs, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3 Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Dimensions 48.2 mm x 30 mm x 30 mm (L x W x H); without tripod and lens Mass 50 g (without lens) Operating temperature + 5 C C housing temperature (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Table 16: Guppy F-080B 42

43 Specifications Feature Specification Regulations EN 55022, EN 61000, EN 55024, FCC class B, DIN ISO 9022, RoHS (2002/95/EC) Options (old) Board level OEM version C-Mount: IR cut filter / IR pass filter available as CS- to C- Mount adapter. CS-Mount: Consult factory or your dealer for specific filters. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Options (new) Board level OEM version C/CS-Mount: IR cut filter / IR pass filter available as CS-Mount adapter. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 16: Guppy F-080B Note The design and specifications for the products described above may change without notice. 43

44 Specifications Guppy F-080C Feature Specification Image device ICX204AK (diag. 6 mm; type 1/3) progressive scan SONY IT CCD Effective picture elements 1034 (H) x 778 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 1024 x 768 pixels (Format_1) supporting all smaller fixed formats 1032 x 778 (Format_7 Mode_0) Cell size 4.65 µm x 4.65 µm ADC 12 bit Color modes Raw8 Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps variable frame rates in Format_7 up to 30 fps Gain control Manual: 0-24 db ( db/step); Auto gain (select. AOI) Shutter speed µs (~67s); Auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, Advanced feature: Trigger_Mode_15 (bulk); image transfer by command; Trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (Auto White Balance), LUT (look-up table) one configurable input, three configurable outputs, RS-232 port (serial port, IIDC V1.3.1) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3 Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Dimensions 48.2 mm x 30 mm x 30 mm (L x W x H); without tripod and lens Mass 50 g (without lens) Operating temperature + 5 C C housing temperature (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Table 17: Guppy F-080C 44

45 Specifications Feature Specification Regulations EN 55022, EN 61000, EN 55024, FCC class B, DIN ISO 9022, RoHS (2002/95/EC) Options (old) Board level OEM version AR coated protection glass AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Options (new) Board level OEM version C/CS-Mount: AR coated protection glass available as CS-Mount adapter. AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 17: Guppy F-080C Note The design and specifications for the products described above may change without notice. 45

46 Specifications Guppy F-080B BL (board level) Feature Specification Image device ICX204AL (diag. 6 mm; type 1/3) progressive scan SONY IT CCD Effective picture elements 1034 (H) x 778 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 21: Guppy board level version: C-Mount on page 60) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 20: Guppy board level: CS-Mount on page 59) Picture sizes 1024 x 768 pixels (Format_1) supporting all smaller fixed formats 1032 x 778 (Format_7 Mode_0) Cell size 4.65 µm x 4.65 µm ADC 14 bit Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps variable frame rates in Format_7 up to 30 fps Gain control Manual: 0-24 db ( db/step); auto gain (select. AOI) Shutter speed µs (~67s); auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, advanced feature: Trigger_Mode_15 (bulk); image transfer by command; trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), LUT (look-up table) 4 free configurable inputs/outputs with pulse width modulation (PWM) for each, RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3, two ports (daisy chain) Power requirements DC 8 V - 36 V via IEEE 1394 cable or 10-pin connector Power consumption Less than 2 watt (@ 12 V DC) Dimensions 35 mm x 35 mm (sensor board); 35 mm x 70 mm (main board); without lens Mass 20 g (without lens) Operating temperature + 5 C C housing temperature (without condensation) Storage temperature - 10 C C ambient temperature (without condensation) Table 18: Guppy F-080B BL (board level) 46

47 Specifications Feature Specification Regulations EN 55022, EN 61000, EN 55024, FCC class B, RoHS (2002/95/EC) Options C-Mount (built-in IR cut filter / protection glass) M12-Mount (built-in IR cut filter / protection glass) M12 lenses 1394 adapter cable I/O adapter cable AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 18: Guppy F-080B BL (board level) Note The design and specifications for the products described above may change without notice. 47

48 Specifications Guppy F-080C BL (board level) Feature Specification Image device ICX204AK (diag. 6 mm; type 1/3) progressive scan SONY IT CCD Effective picture elements 1034 (H) x 778 (V) Lens mount C-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back to filter distance: 9.5 mm (see Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) on page 64) CS-Mount: mm (in air), Ø 25.4 mm (32 tpi), mechanical flange back distance: 8 mm (see Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) on page 66) Picture sizes 1024 x 768 pixels (Format_1) supporting all smaller fixed formats 1032 x 778 (Format_7 Mode_0) Cell size 4.65 µm x 4.65 µm ADC 14 bit Color modes Raw8 Data path 8 bit Frame rates 3.75 fps; 7.5 fps; 15 fps variable frame rates in Format_7 up to 30 fps Gain control Manual: 0-24 db ( db/step); Auto gain (select. AOI) Shutter speed µs (~67s); Auto shutter (select. AOI) External trigger shutter Trigger_Mode_0, Trigger_Mode_1, Advanced feature: Trigger_Mode_15 (bulk); image transfer by command; Trigger delay Look-up table One, user programmable (10 bit 8 bit); gamma (0.5) Smart functions AGC (auto gain control), AEC (auto exposure control), AWB (Auto White Balance), LUT (look-up table) 4 free configurable inputs/outputs with pulse width modulation (PWM) for each, RS-232 port (serial port, IIDC V1.31) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s Digital interface IEEE 1394 IIDC V1.3 Power requirements DC 8 V - 36 V via IEEE 1394 cable or 8-pin HIROSE Power consumption Less than 2 watt (@ 12 V DC) Dimensions 35 mm x 35 mm (sensor board); 35 mm x 70 mm (main board); without lens Mass 20 g (without lens) Operating temperature + 5 C C (without condensation) Table 19: Guppy F-080C BL (board level) 48

49 Specifications Feature Specification Storage temperature - 10 C C ambient temperature (without condensation) Regulations EN 55022, EN 61000, EN 55024, FCC class B, RoHS (2002/95/EC) Options C-Mount (built-in IR cut filter / protection glass) M12-Mount (built-in IR cut filter / protection glass) M12 lenses 1394 adapter cable I/O adapter cable AVT FirePackage (SDK and Viewer, 100% control the bus) AVT Direct FirePackage (SDK and Viewer, compatible to DirectX and WDM) AVT Fire4Linux (SDK and Viewer, compatible to RedHat and Suse Distributions) Table 19: Guppy F-080C BL (board level) Note The design and specifications for the products described above may change without notice. 49

50 Specifications Spectral sensitivity Figure 5: Spectral sensitivity of Guppy F-025B without cut filter and optics Figure 6: Spectral sensitivity of Guppy F-025C without cut filter and optics 50

51 Specifications Figure 7: Spectral sensitivity of Guppy F-029B without cut filter and optics Figure 8: Spectral sensitivity of Guppy F-029C without cut filter and optics 51

52 Specifications Figure 9: Spectral sensitivity of Guppy F-033B without cut filter and optics Figure 10: Spectral sensitivity of Guppy F-033C without cut filter and optics 52

53 Specifications Figure 11: Spectral sensitivity of Guppy F-036B without cut filter and optics Figure 12: Spectral sensitivity of Guppy F-036C without cut filter and optics 53

54 Specifications Figure 13: Spectral sensitivity of Guppy F-046B without cut filter and optics Figure 14: Spectral sensitivity of Guppy F-046C without cut filter and optics 54

55 Specifications Figure 15: Spectral sensitivity of Guppy F-080B without cut filter and optics Figure 16: Spectral sensitivity of Guppy F-080C without cut filter and optics 55

56 Camera dimensions Camera dimensions Guppy standard housing (old CS-/C-Mounting) Body size: 48.2 mm x 30 mm x 30 mm (L x W x H) Mass: 50 g (without lens) Figure 17: Camera dimensions (old CS-/C-Mounting) 56

57 Camera dimensions Guppy standard housing (new CS-/C-Mounting) Body size: 48.2 mm x 30 mm x 30 mm (L x W x H) Mass: 50 g (without lens) Figure 18: Camera dimensions (new CS-/C-Mounting) 57

58 Camera dimensions Guppy board level: dimensions Figure 19: Guppy board level dimensions Note Pixel 1,1 on the sensor marks the pixel in the upper left corner in the image (incl. lens). Sensor - Pin1 marks the first sensor pin. 58

59 Camera dimensions Guppy board level: CS-Mount Figure 20: Guppy board level: CS-Mount 59

60 Camera dimensions Guppy board level: C-Mount Figure 21: Guppy board level version: C-Mount 60

61 Camera dimensions Guppy board level: M12-Mount Figure 22: Guppy board level version: M12-Mount 61

62 Camera dimensions Tripod adapter Figure 23: Tripod dimensions 62

63 Camera dimensions Cross section: C-Mount (old CS-/C-Mounting) Figure 24: Guppy C-Mount dimensions (old CS-/C-Mounting) 63

64 Camera dimensions Cross section: C-Mount (new CS-/C-Mounting) Figure 25: Guppy C-Mount dimensions (new CS-/C-Mounting) 64

65 Camera dimensions Cross section: CS-Mount (old CS-/C-Mounting) Figure 26: Guppy CS-Mount dimensions (old CS-/C-Mounting) 65

66 Camera dimensions Cross section: CS-Mount (new CS-/C-Mounting) Figure 27: Guppy CS-Mount dimensions (new CS-/C-Mounting) 66

67 Description of the data path Description of the data path Block diagrams of the cameras The following diagrams illustrate the data flow and the bit resolution of image data after being read from the sensor chip in the camera. The individual blocks are described in more detail in the following paragraphs. Black and white cameras (CCD and CMOS) CCD: Analog Front End (AFE) Sensor Analog Gain Analog Offset 10 Bit LUT Test-Pattern Camera control 8 bit Camera I/O connector RS232 IEEE 1394 interface 1394a Figure 28: Block diagram b/w camera (CCD) CMOS: Integrated in sensor Sensor Analog Offset Analog Gain 10 Bit LUT Test-Pattern Camera control 8 bit Camera I/O connector RS232 IEEE 1394 interface 1394a Figure 29: Block diagram b/w camera (CMOS) 67

68 Description of the data path Color cameras (CCD and CMOS) CCD: Analog Front End (AFE) Sensor Analog Gain Analog Offset 10 bit White Balance 10 bit LUT Test-Pattern Camera Control 8 Bit Camera I/O Connector RS232 IEEE-1394 Interface 1394a Figure 30: Block diagram color camera (CCD) CMOS: Integrated in sensor Sensor Analog Offset Analog Gain White balance 10 bit 10 bit LUT Test-Pattern Camera control 8 bit Camera I/O connector RS232 IEEE 1394 interface 1394a Figure 31: Block diagram color camera (CMOS) 68

69 Description of the data path Sensor The GUPPY cameras are equipped with various sensor types and resolutions. Both CCD and CMOS types are available in monochrome (B) and color (C). The following table provides an overview: Model Techn. Manufacturer Sensor type Optical format Diag. [mm] Microlens GUPPY F-025B ICX404AL Yes, CCD SONY Type 1/3 6 GUPPY F-025C ICX404AK HAD GUPPY F-029B ICX405AL Yes, CCD SONY Type 1/3 6 GUPPY F-029C ICX405AK HAD GUPPY F-033B ICX424AL Yes, CCD SONY Type 1/3 6 GUPPY F-033C ICX424AQ HAD Chip size [mm] Pixel size [µm] Eff. Pixels x x x GUPPY F-036B CMOS Micron MT9V022 Type 1/ Yes 4.51x x x480 GUPPY F-036C GUPPY F-046B ICX415AL Yes, CCD SONY Type 1/ x GUPPY F-046C ICX415AQ HAD GUPPY F-080B ICX 204AL Yes, CCD SONY Type 1/ x x x778 GUPPY F-080C ICX 204AK HAD Table 20: Sensor data 69

70 Description of the data path Horizontal and vertical mirror function (only Guppy F-036) The Guppy F-036 CMOS cameras are equipped with a horizontal and verticaql mirror function, which is built directly into the sensor. The mirror is centered to the actual FOV center and can be combined with all image manipulation functions, like binning. This function is especially useful when the camera is looking at objects with the help of a mirror or in certain microscopy applications. To configure this feature in an advanced register: See Table 106: Mirror control register on page 204. Note When using the mirror function, the starting color is maintained. 70

71 Description of the data path White balance The color cameras have both manual and automatic white balance. White balance is applied so that non-colored image parts are displayed non-colored. White balance does not use the so-called PxGA (Pixel Gain Amplifier) of the analog front end (AFE) but a digital representation in the FPGA in order to modify the gain of the two channels with lower output by +9.5 db (in 512 steps) relative to the channel with highest output. The following screenshot is taken from the datasheet of the AFE and illustrates the details: The analog color signal, coming in pulse amplitude modulation from the sensor, is in the form of the BAYER color pattern sequence. It is initially processed in the CDS (correlated double sampler) then bypasses the PxGA before further amplification and digitization. Figure 32: Block diagram of AFE (Source: Analog Devices) 71

72 Description of the data path Gain Selection (Reg0x35 or result of AGC) V REF (Reg0x2C) Pixel output (reset minus signal) x 10 (12) bit ADC ADC Data (9:0) Offset correction Voltage (Reg0x48 or result of BLC) C1 C2 Figure 33: Signal path of MT9V022 (Guppy with CMOS sensor) In CMOS cameras offset and gain are in reversed order compared to the CCD cameras. Therefore the offset is also amplified. So after changing gain, white balance may also be changed. From the user's point of view, the white balance settings are made in register 80Ch of IIDC V1.3. This register is described in more detail on the next page. 72

73 Description of the data path Register Name Field Bit Description 0xF0F0080C WHITE_BALANCE Presence_Inq [0] Presence of this feature: 0: N/A; 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..4] Reserved One_Push [5] Write: Set bit high to start Read: Status of the feature: Bit high: WIP Bit low: Ready ON_OFF [6] Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 A_M_MODE [7] Set bit high for Auto feature Read for Mode; 0= MANUAL; 1= AUTO U/B_Value [8..19] U/B value; Write if not Auto; Read V/R_Value [20..31] V/R Value Table 21: White balance register The values in the U/B_Value field produce changes from green to blue; the V/R_Value field from green to red as illustrated below. Figure 34: U/V slider range 73

74 Description of the data path One-push automatic white balance It is activated by setting the one-push bit in the WHITE_BALANCE register (see Chapter Status and control register for feature on page 181). The camera automatically generates frames, based on the current settings of all registers (GAIN, OFFSET, SHUTTER, etc.). For white balance, in total eight frames are processed and a grid of at least samples is equally spread over the whole image area. The R-G-B component values of the samples are added and are used as actual values for both the one-push and the automatic white balance. This feature uses the assumption that the R-G-B component sums of the samples are equal; i.e., it assumes that the average of the sampled grid pixels is to be monochrome. Note The following ancillary conditions should be observed for successful white balance: There are no stringent or special requirements on the image content, it requires only the presence of monochrome pixels in the image. Automatic white balance can be started both during active image capture and when the camera is in idle state. If the image capture is active (e.g. IsoEnable set in register 614h), the frames used by the camera for white balance are also output on the 1394 bus. Any previously active image capture is restarted after the completion of white balance. Automatic white balance can also be enabled by using an external trigger. However, if there is a pause of >10 seconds between capturing individual frames this process is aborted. The following flow diagram illustrates the automatic white balance sequence. 74

75 Description of the data path Figure 35: Automatic white balance sequence Finally, the calculated correction values can be read from the WHITE_BALANCE register 80Ch. Automatic white balance There is also an auto white balance feature available which continuously optimizes the color characteristics of the image. As a reference, it uses a grid of at least (2 16 ) samples equally spread over the area of interest or a fraction of it. The position and size of the control area (Auto_Function_AOI) can be set via an advanced register (see Chapter Autofunction AOI on page 201). AUTOFNC_AOI affects the auto shutter, auto gain and auto white balance features and is independent of the Format7 AOI settings. If this feature is switched off, the work area position and size represent the current active image size. The camera automatically adjusts the settings to the permitted values. Due to the fact that the active image size might not be divisible by 4 without a remainder, the autofunction AOI work-area size might be greater. This allows for the positioning of the work area to be at the bottom of the active image. Another case is for outdoor applications: the sky will be excluded from the generation of the reference levels when the autofunction AOI is placed at the bottom of the image. 75

76 Description of the data path Note If the adjustment fails and the work area size and/or position becomes invalid, this feature is automatically switched off make sure to read back the ON_OFF flag if this feature doesn t work as expected. Within this area, the R-G-B component values of the samples are added and used as actual values for the feedback. The following drawing illustrates the AUTOFNC_AOI settings in greater detail. AOI: X-size 0,0 AF_AREA_POSITION: Left,Top AOI: Y-size Sampling grid for Auto-Function AF_AREA_SIZE: Height: n x 4 AF_AREA_SIZE: Width: n x 4 Figure 36: AUTOFNC_AOI positioning The algorithm is based on the assumption that the R-G-B component sums of the samples shall be equal, i.e., it assumes that the mean of the sampled grid pixels is to be monochrome. Visualization of the AUTOFNC_AOI is carried out with the help of the graphics overlay (see: block diagram) function of the camera. This area is highlighted when the Show work area bit is set high. Note The algorithm will try to create an uncolored image when looking at an area that is completely colored with automatic white balance ON. 76

77 Description of the data path Manual gain As shown in Figure 32: Block diagram of AFE (Source: Analog Devices) on page 71 and Figure 33: Signal path of MT9V022 (Guppy with CMOS sensor) on page 72, all cameras are equipped with a gain setting, allowing the gain to be manually adjusted on the fly by means of a simple command register write. The following ranges can be used when manually setting the gain for the analog video signal: Type Range Range in db CCD cameras db CMOS camera db Table 22: Manual gain range of the various GUPPY types The increment length for CCD models is ~ db/step. The increment length for the CMOS model is: 0..15: ~0.2 db/step (1 step = 1 LSB) : ~0.28 db/step (1 step = 2 LSB) Note Setting the gain does not change the offset (black value) for CCD models. A higher gain also produces greater image noise. This reduces image quality. For this reason, try first to increase the brightness, using the aperture of the camera optics and/or longer shutter settings. Auto gain In combination with auto white balance, all CCD and CMOS models are equipped with auto gain feature. When enabled auto gain adjusts the gain within the default gain limits or within the limits set in advanced register F h in order to reach the brightness set in auto exposure register as reference. Increasing the auto exposure value (aka target grey value) increases the average brightness in the image and vice versa. The applied algorithm uses a proportional plus integral controller (PI controller) to achieve minimum delay with zero overshot. The following table shows both the gain and auto exposure CSR. 77

78 Description of the data path Register Name Field Bit Description 0xF0F00820 GAIN Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..4] Reserved One_Push [5] Write: Set bit high to start Read: Status of the feature: Bit high: WIP Bit low: Ready ON_OFF [6] Write ON or OFF this feature ON=1 Read: Status of the feature OFF=0 A_M_MODE [7] Set bit high for Auto feature Read for Mode; 0= MANUAL; 1= AUTO - [8..19] Reserved Value [20..31] Read/Write Value; this field is ignored when writing the value in Auto or OFF mode; if readout capability is not available reading this field has no meaning Table 23: Gain 78

79 Description of the data path Register Name Field Bit Description 0xF0F00804 AUTO_EXPOSURE Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..4] Reserved One_Push [5] Write: Set bit high to star Read: Status of the feature: Bit high: WIP Bit low: Ready ON_OFF [6] Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 A_M_MODE [7] Set bit high for Auto feature Read for Mode 0= MANUAL 1= AUTO - [8..19] Reserved Value [20..31] Read/Write Value; this field is ignored when writing the value in Auto or OFF mode; if readout capability is not available reading this field has no meaning Table 24: Auto_Exposure CSR Note Values can only be changed within the limits of gain CSR. Changes in auto exposure register only have an effect when auto gain is active. Auto exposure limits are (SmartView Ctrl1 tab: Target grey level) Auto gain of CMOS models is directly controlled by the CMOS sensor (the target grey level is fixed to 125). Changes to this register have no effect in conjunction with auto gain. Auto exposure is working in conjunction with auto shutter only. 79

80 Description of the data path The table below illustrates the advanced auto gain control register. Register Name Field Bit Description 0xF AUTOGAIN_CTRL Presence_Inq [0] Indicates presence of this feature (read only) [1..3] - MAXVALUE Max Value [4..15] Max value - [16..19] - MINVALUE Min value [20..31] Min value Table 25: Advanced register for auto gain control Note Values can only be changed within the limits of gain CSR. Changes in auto exposure register only have an effect when auto gain is active. Auto exposure limits are Setting the brightness (black level or offset) It is possible to set the black level in the camera within the following ranges: CCD models: gray values (@ 8 bit) Increments are in 1/16 LSB (@ 8 bit) Board level versions: Increments are in 1/64 LSB (@ 8 bit) CCD models: The formula for gain and offset setting is: Y`= G x Y+Offset CMOS models: gray values Increments are in 8/25 LSB Note Setting the gain does not change the offset (black value) for CCD models. The IIDC register brightness at offset 800h is used for this purpose. The following table shows the BRIGHTNESS register. 80

81 Description of the data path Register Name Field Bit Description 0xF0F00800 BRIGHTNESS Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..4] Reserved One_Push [5] Write: Set bit high to start Read: Status of the feature: Bit high: WIP Bit low: Ready ON_OFF [6] Write ON or OFF this feature ON=1 Read: Status of the feature OFF=0 A_M_MODE [7] Set bit high for Auto feature Read for Mode; 0= MANUAL; 1= AUTO - [8..19] Reserved Value [20..31] Read/Write Value; this field is ignored when writing the value in Auto or OFF mode; if readout capability is not available reading this field has no meaning Table 26: Brightness Auto shutter In combination with auto white balance, all CCD and CMOS models are equipped with auto shutter feature. When enabled, the auto shutter adjusts the shutter within the default shutter limits or within those set in advanced register F h in order to reach the reference brightness set in auto exposure register. Increasing the auto exposure value increases the average brightness in the image and vice versa. The applied algorithm uses a proportional plus integral controller (PI controller) to achieve minimum delay with minimum overshot. 81

82 Description of the data path The following table shows the Shutter CSR: Register Name Field Bit Description 0xF0F0081C SHUTTER Presence_Inq [0] Presence of this feature: 0: N/A; 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..4] Reserved One_Push [5] Write: Set bit high to start Read: Status of the feature: Bit high: WIP Bit low: Ready ON_OFF [6] Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 A_M_MODE [7] Set bit high for Auto feature Read for Mode 0= MANUAL 1= AUTO - [8..19] Reserved Table 27: Shutter CSR The table below illustrates the advanced register for auto shutter control. The purpose of this register is to limit the range within which auto shutter operates. Register Name Field Bit Description 0xF AUTOSHUTTER_CTRL Presence_Inq [0] Indicates presence of this feature (read only) [1..31] - 0xF AUTOSHUTTER_LO Min Value [0..31] Min value 0xF AUTOSHUTTER_HI Max Value [0..31] Max value Table 28: Auto shutter ctrl. advanced register 82

83 Description of the data path Note Values can only be changed within the limits of shutter CSR. Changes in auto exposure register only have an effect when auto shutter is enabled. Auto exposure limits are: When both auto shutter and auto gain are enabled, priority is given to increasing shutter when brightness decreases. This is done to achieve the best image quality with lowest noise. For increasing brightness, priority is given to lowering gain first for the same purpose. 83

84 Description of the data path Look-up table (LUT) and gamma function The AVT GUPPY camera provides one user-defined look-up table (LUT). The use of this LUT allows any function (in the form Output = F(Input)) to be stored in the camera's RAM and applied to the individual pixels of an image at run-time. The address lines of the RAM are connected to the incoming digital data, these in turn point to the values of functions which are calculated offline, e.g. with a spreadsheet program. This function needs to be loaded into the camera's RAM before use. One example of using a LUT is the gamma LUT: Output = (Input) 0.5 This is used with all CCD models. This is known as compensation for the nonlinear brightness response of many displays e.g. CRT monitors. The look-up table converts the 10 bits from the digitizer to 8 bits. Output = (Input) gamma Guppy, gamma= Output Input Figure 37: Gamma LUT 84

85 Description of the data path Note The input value is the 10-bit value from the digitizer. The gamma LUT of the CCD models outputs the most significant 8 bit as shown above. As gamma correction for the CCD models is also implemented via the look-up table, it is not possible to use a different LUT when gamma correction is enabled. With all CCD models, the user LUT will be overridden when gamma is enabled. CMOS models have the gamma function built in the sensor, so that it will not be overridden. LUT content is volatile. Loading a LUT into the camera Loading the LUT is carried out through the data exchange buffer called GPDATA_BUFFER. As this buffer can hold a maximum of 2 kb, and a complete LUT at 1024 x 8 bit is 1 kb, programming can take place in a one block write step. The flow diagram below shows the sequence required to load data into the camera. Figure 38: Loading a LUT 85

86 Description of the data path The table below describes the registers required: Register Name Field Bit Description 0xF LUT_CTRL Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] Enable/disable this feature --- [7..25] Reserved LutNo [26..31] Use look-up table with LutNo number 0xF LUT_MEM_CTRL Presence_Inq [0] Indicates presence of this feature (read only) --- [1..4] Reserved EnableMemWR [5] Enable write access --- [6..7] Reserved AccessLutNo [8..15] Reserved AddrOffset [16..31] byte 0xF LUT_INFO Presence_Inq [0] Indicates presence of this feature (read only) --- [1..2] Reserved BitsPerValue [3..7] Bits used per table item NumOfLuts [8..15] Maximum number of look-up tables MaxLutSize [16..31] Maximum look-up table size (bytes) Table 29: LUT control register 86

87 Description of the data path Binning (b/w models) 2x and 4x binning Binning is the process of combining neighboring pixels while being read out from the CCD chip. GUPPY F-036 b/w cameras have this feature. Binning is used primarily for 3 reasons: a reduction in the number of pixels and thus the amount of data while retaining the original image area angle an increase in the frame rate (vertical binning only) an improvement in the signal-to-noise ratio of the image Signal-to-noise ratio (SNR) and signal-to-noise separation specify the quality of a signal with regard to its reproduction of intensities. The value signifies how high the ratio of noise is in regard to the maximum achievable signal intensity. The higher this value, the better the signal quality. The unit of measurement used is generally known as the decibel (db), a logarithmic power level. 6 db is the signal level gain when binning two pixels, giving a theoretical SNR improvement of about 3 db. However, the advantages of increasing signal quality are accompanied by a reduction in resolution. Binning is possible only in video Format_7. The type of binning used depends on the video mode. In general, we distinguish between four types of binning: 2 x H-binning 2 x V-binning 4 x H-binning 4 x V-binning and the full binning modes: 2 x full binning (a combination of 2 x H-binning and 2 x V-binning) 4 x full binning (a combination of 4 x H-binning and 4 x V-binning) 87

88 Description of the data path 2 x vertical binning and 4 x vertical binning 2 x vertical binning: 2 pixel signals from 2 vertical neighboring pixels are combined and their signals are averaged. 4 x vertical binning: 4 pixel signals from 4 vertical neighboring pixels are combined and their signals are averaged. Because the signal is averaged, the image will not be brighter as without binning. 2 x vertical binning 4 x vertical binning Figure 39: 2 x vertical binning and 4 x vertical binning Note Vertical resolution is reduced, but signal-to noise ratio (SNR) is increased by about 3 to 6 db (2 x or 4 x binning). Use Format_7 Mode_2 to activate 2 x vertical binning. Use Format_7 Mode_5 to activate 4 x vertical binning. Note The image appears vertically compressed in this mode and no longer exhibits a true aspect ratio. 88

89 Description of the data path 2 x horizontal binning and 4 x horizontal binning 2 x horizontal binning: 2 pixel signals from 2 horizontal neighboring pixels are combined and their signals are averaged. 4 x horizontal binning: 4 pixel signals from 4 horizontal neighboring pixels are combined and their signals are averaged. Because the signal is averaged, the image will not be brighter as without binning. 2 x horizontal binning 4 x horizontal binning Figure 40: 2 x horizontal binning and 4 x horizontal binning Note Horizontal resolution is reduced, but signal-to noise ratio (SNR) is increased by about 3 or 6 db (2 x or 4 x binning). Use Format_7 Mode_1 to activate 2 x horizontal binning. Use Format_7 Mode_4 to activate 4 x horizontal binning. Note The image appears horizontally compressed in this mode and no longer exhibits a true aspect ratio. 89

90 Description of the data path 2 x full binning and 4 x full binning 2 x full binning: 4 pixel signals from 2 adjacent rows and columns are combined and their signals are averaged. 4 x full binning: 16 pixel signals from 4 adjacent rows and columns are combined and their signals are averaged. Because the signal is averaged, the image will not be brighter as without binning. 2 x full binning 4 x full binning Figure 41: Full binning Note Signal-to noise ratio (SNR) is increased by about 6 or 12 db (2 x full or 4 x full binning). Use Format_7 Mode_3 to activate 2 x full binning. Use Format_7 Mode_6 to activate 4 x full binning. 90

91 Description of the data path HDR (high dynamic range) (GUPPY F-036 only) The HDR mode is available for the GUPPY F-036 cameras with the Micron MT9V022 sensor. (HDR = high dynamic range) Advanced registers for high dynamic range mode (HDR) (GUPPY F-036 only) The GUPPY F-036 cameras offer the so-called high dynamic range mode (HDR mode) with one or two knee points. Register Name Field Bit Description 0xF HDR_CONTROL Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] Enable/disable HDR mode --- [7..19] Reserved MaxKneePoints [20..23] Read only Maximum number of knee points (2) --- [24..27] Reserved KneePoints [28..31] Number of active knee points (max. 2) 0xF KNEEPOINT_1 KneeVoltage_1 [0..7] Regulation of saturation level KneeVoltage_2 [8..15] Regulation of saturation level KneeTime_1 [16..31] Not implemented, but value must be greater 0 0xF KNEEPOINT_2 KneeVoltage_3 [0..7] Regulation of saturation level KneeVoltage_4 [8..15] Regulation of saturation level KneeTime_2 [16..31] Not implemented, but value must be greater 0. 0xF100028C KNEEPOINT_3 --- [0..31] Reserved Table 30: High dynamic range (HDR) configuration register Note The HDR mode of GUPPY F-036 runs in auto exposure mode only. The knee times are calculated by the sensor automatically. 91

92 Description of the data path BAYER pattern (raw data output) The color sensors capture the color information via so called primary color (R-G-B) filters placed over the individual pixels in a BAYER mosaic layout. Guppy color cameras have no color interpolation, so the BAYER demosaicing has to be done outside the camera in the PC (raw mode). Column readout direction Pixel (2,9) Row readout direction Figure 42: Bayer pattern of Guppy F-036C 92

93 Description of the data path Serial interface All GUPPY cameras are equipped with the SIO (serial input/output) feature as described in IIDC V1.31. This means that the GUPPYs serial interface which is used for firmware upgrades can also be used as a general RS232 interface. Data written to a specific address in the IEEE 1394 address range will be sent through the serial interface. Incoming serial interface data is put in the camera buffer and can be polled from here via simple read commands. Controlling registers enable the settings of baud rates and the check of buffer sizes and serial interface errors. Note Hardware handshaking is not supported. Typical PC hardware does not support bps. Base address for the function is: F0F02100h. 93

94 Description of the data path The following registers provide an overview: Offset Name Field Bit Description 000h SERIAL_MODE_REG Baud_Rate [0..7] Baud rate setting WR: Set baud rate RD: Read baud rate 0: 300 bps 1: 600 bps 2: 1200 bps 3: 2400 bps 4: 4800 bps 5: 9600 bps 6: bps 7: bps 8: bps 9: bps 10: bps Other values reserved Char_Length [8..15] Character length setting WR: Set data length (7 or 8 bit) RD: Get data length 7: 7 bits 8: 8 bits Other values reserved Parity [16..17] Parity setting WR: Set parity RD: Get parity setting 0: None 1: Odd 2: Even Stop_Bit [18..19] Stop bits WR: Set stop bit RD: Get stop bit setting 0: 1; 1: 1.5; 2: 2 - [20..23] Reserved Buffer_Size_Inq [24..31] Buffer Size (RD only) This field indicates the maximum size of receive/transmit data buffer If this field is 1, Buffer_Status_Control and SIO_Data_Reg. Char 1-3 should be ignored Table 31: SIO CSR 94

95 Description of the data path Offset Name Field Bit Description 0004h SERIAL_CONTROL_REG RE [0] Receive enable RD: Current status WR: 0: disable 1: Enable TE [1] Transmit enable RD: Current status WR: 0: disable 1: Enable - [2..7] Reserved SERIAL_STATUS_REG TDRD [8] Transmit data buffer ready Read only 0: not ready 1: ready - [9] Reserved RDRD [10] Receive data buffer ready Read only 0: not ready 1: ready - [11] Reserved ORER [12] Receive data buffer overrun error Read: current status 0: no error WR: 0 to clear status (1: Ignored) FER [13] Receive data framing error Read: current status 0: no error WR: 0 to clear status (1: Ignored) PER [14] Receive data parity error Read: current status 0: no error WR: 0 to clear status (1: Ignored) - [15..31] Reserved Table 31: SIO CSR 95

96 Description of the data path Offset Name Field Bit Description 008h 00Ch RECEIVE_BUFFER_STAT US_CONTRL TRANSMIT_BUFFER_ST ATUS_CONTRL RBUF_ST [0..7] SIO receive buffer status RD: Number of bytes pending in receive buffer WR: Ignored RBUF_CNT [8..15] SIO receive buffer control WR: Number of bytes to be read from the receive FiFo RD: Number of bytes left for readout from the receive FiFo - [16..31] Reserved TBUF_ST [0..7] SIO output buffer status RD: Space left in TX buffer WR: Ignored TBUF_CNT [8..15] SIO output buffer control RD: Number of bytes written to transmit FiFo WR: Number of bytes to transmit - [16..31] Reserved 010h.. - Reserved 0FFh 100h SIO_DATA_REGISTER CHAR_0 [0..7] Character_0 RD: Read char. from receive buffer WR: Write char. to transmit buffer SIO_DATA_REGISTER CHAR_1 [8..15] Character_1 RD/WR SIO_DATA_REGISTER CHAR_2 [16..23] Character_2 RD/WR SIO_DATA_REGISTER CHAR_3 [24..31] Character_3 RD/WR Table 31: SIO CSR Reading data requires the following series of actions: 1. Query RDRD flag (buffer ready?) and write the number of bytes the host wants to read to RBUF_CNT. 2. Read the number of bytes pending in the receive buffer RBUF_ST (more data in the buffer than the host wanted to read?) and the number of bytes left for reading from the receive FiFo in RBUF_CNT (the host wanted to read more data than were in the buffer?). 3. Read received characters from SIO_DATA_REGISTER, beginning at char To input more characters, repeat from step 1. Writing data requires the following series of actions: 1. Query TDRD flag (buffer ready?) and write the number of bytes to send (copied from SIO register to transmit FiFo) to TBUF_CNT. 96

97 Description of the data path 2. Read the available data space left in TBUF_ST (if the buffer can hold more bytes than are to be transmitted) and number of bytes written to transmit buffer in TBUF_CNT (if more data are to be transmitted than fit in the buffer). 3. Write character to SIO_DATA_REGISTER, beginning at char To output more characters, repeat from step 1. Note Contact your local dealer if you require further information or additional test programs or software. AVT recommends the use of Hyperterminal or other communication programs to test the functionality of this feature. 97

98 Camera interfaces Camera interfaces In addition to the two status LEDs (see Chapter Status LEDs on page 103), there are two jacks located at the rear of the camera. The 8-pin camera I/O connector provides a variety of control input and output lines. The IEEE 1394 connector with lock mechanism provides access to the IEEE 1394 bus and thus makes it possible to control the camera and output frames. 8-pin camera I/O connector Status LEDs Yellow (S2) Green (S1) IEEE 1394 connector Figure 43: Rear view of camera IEEE 1394 port pin assignment The IEEE 1394 plug is designed for industrial use and has the following pin assignment as per specification: Figure 44: IEEE 1394 connector 98

99 Camera interfaces Pin Signal 1 Cable power 2 Cable GND 3 TPB- 4 TPB+ 5 TPA- 6 TPA+ Table 32: IEEE 1394 pin assignment Note Cables with latching connectors on one or both sides can be used and are available with various lengths of 4.5 m or up to 17.5 m. Ask your local dealer for more details. 99

100 Camera interfaces Board level camera: IEEE 1394 port pin assignment Board level Guppies have two 1394 ports to allow daisy chaining of cameras. The second IEEE 1394 pin header (2.54 mm connector) is designed for adding a 1394 adapter cable of e.g the following supplier: IEEE PIN - PANEL F TO 2X5 F (AVT#: K ) It has the following pin assignment (see FireWire connector 1 in Figure 20: Guppy board level: CS-Mount on page 59): 6 1 CablePower CablePower GND Chassis X2 TPA+ TPA- TPB+ TPB- CablePower CableGND CableShield CableShield IEEE 1394a FireWire connector 2 X1 (chassis connection) M 1M 10n 10n 1n 1n GNDChassis X1 1 HOLE 10 5 GND Figure 45: Board level camera: IEEE 1394 FireWire connector 1 (view on pins) Signal Pin Pin Signal TPA+ 6 1 TPA GND TPB+ 8 3 TPB Cable power Cable shield Table 33: Board level camera: IEEE 1394 pin assignment (FireWire connector 1) 100

101 Camera interfaces Camera I/O pin assignment The camera I/O connector is designed for industrial use. It provides: access to the inputs and outputs on the camera a serial interface The following diagram shows the pinning as viewed in pin direction. Note The part number of the appropriate straight I/O connector is: HIROSE HR25-7TP-8S, AVT article number K AVT also supplies various I/O cables of different lengths, a selection is listed below: I/O cable, open 8-pin HIROSE female to open end, 2.0 m I/O cable, open 8-pin HIROSE female to open end, 5 m E E Figure 46: Camera I/O connector pin assignment 101

102 Camera interfaces Pin Signal Direction Level Description 1 CameraOut1 Out TTL Camera Output 1 2 CameraOut2 Out TTL Camera Output 2 3 CameraOut3 Out TTL Camera Output 3 4 CameraIn In TTL Camera Input 5 RxD_RS232 In RS232 Terminal Receive Data 6 TxD_RS232 Out RS232 Terminal Transmit Data 7 ExtPower +8 36V Power Supply 8 GND GND Ground Table 34: Camera I/O pin assignment Board level camera: I/O pin assignment The following diagram shows the I/O pin header (2.54 mm connector) of a board level camera as viewed in pin direction: Figure 47: Board level camera: I/O pin assignment (view on pins) Pin Signal Direction Level Description 1 GND GND Ground 2 ExtPower +8 36V Power Supply Power Table 35: Board level camera: Camera I/O pin assignment 102

103 Camera interfaces Pin Signal Direction Level Description 3 GND GND Ground 4 TxD_RS232 Out RS232 Terminal Transmit Data 5 RxD_RS232 In RS232 Terminal Receive Data 6 GND GND Ground 7 UserInOut4 In/Out TTL User Input/Output 4 8 UserInOut3 In/Out TTL User Input/Output 3 9 UserInOut2 In/Out TTL User Input/Output 2 10 UserInOut1 In/Out TTL User Input/Output 1 RS232 4 x I/O Table 35: Board level camera: Camera I/O pin assignment Status LEDs Status LEDs Yellow (S2) Green (S1) On LED (green) The green power LED indicates that the camera is being supplied with sufficient voltage and is ready for operation. Status LED Figure 48: Status LEDs The following states are displayed via the LED: 103

104 Camera interfaces State S1 (green) S2 (yellow) Description LED on - power on LED off - power off Asynchronous and isochronous data transmission active (indicated asynchronously to transmission over the 1394 bus) Table 36: LED indication Blink codes are used to signal warnings or error states: Class S1 Error codes S2 Warning 1 blink DCAM 2 blinks MISC 3 blinks FPGA 4 blinks Stack 5 blinks FPGA Boot error 1-5 blinks Stack setup 1 blink Stack start 2 blinks No FLASH object 1 blink No DCAM object 1 blink Register mapping 3 blinks VMode_ERROR_STATUS 1 blink FORMAT_7_ERROR_1 2 blinks FORMAT_7_ERROR_2 3 blinks Table 37: Error codes The following sketch illustrates the series of blinks for a Format_7_error_1: Figure 49: Warning and error states 104

105 Camera interfaces You should wait for at least 2 full cycles because the display of blinking codes starts asynchronously - e.g. on the second blink from S2. Operating the camera Power for the camera is supplied either via the FireWire bus or the camera I/O connector s pin 7. The input voltage must be within the following range: Vcc min.: +8 V Vcc max.: +36 V Note An input voltage of 12 V is recommended for most efficient use of the camera. As mentioned above: The camera I/O connector supplies power to the camera via a diode. This means that there is no power out at pin 7 if the camera is powered via the bus. Consult the factory if you need power output at this pin instead of power in. Control and video data signals Guppy cameras have 1 input and 3 outputs. These can be configured by software. The different modes are described below. Note Warning Guppy board level cameras have 4 bidirectional inputs/ outputs: Outputs can be disabled via the Output Control Register. For further details, read Chapter Board level cameras: inputs and outputs on page 116 and Chapter Board level cameras: pulse-width modulation on page 117. The Guppy outputs are not short-circuit-proof. If there occurs a short-circuit at the outputs, the output driver will be damaged. 105

106 Camera interfaces Input Absolute maximum ratings Recommended operating conditions Description Input voltage -0.5 V V 0 V V 5 V CMOS Input rise and fall time Schmitt trigger implemented Input clamping voltage 24 V Input pulse width (min.) > 1µs Digital input filter Table 38: Input characteristics The inputs can be connected directly to +5 V. If a higher voltage is used, an external resistor must be placed in series. Use at +12 V a 18 kω resistor and at +24 V a 47 kω resistor. Warning Voltages higher than 24 V DC may damage the camera. Figure 50: Input block diagram Trigger The signal can be inverted. The camera must be set to external triggering to trigger image capture by the trigger signal. 106

107 Camera interfaces All input and output signals running over the camera I/O connector are controlled by an advanced feature register. Register Name Field Bit Description 0xF IO_INP_CTRL1 Presence_Inq [0] Indicates presence of this feature (read only) TiedToOutput [1] only board level Guppy: Tied to output pin x (read only) --- [2..6] Reserved Polarity [7] 0: Signal not inverted 1: Signal inverted --- [8..10] Reserved InputMode [11..15] Mode see Table 40: Input routing on page [16..30] Reserved PinState [31] RD: Current state of pin 0xF IO_INP_CTRL2 Same as Only Guppy board level cameras IO_INP_CTRL1 0xF IO_INP_CTRL3 Same as Only Guppy board level cameras IO_INP_CTRL1 0xF100030C IO_INP_CTRL4 Same as IO_INP_CTRL1 Only Guppy board level cameras Table 39: Input configuration register The TiedToOutput field indicates that an output and the corresponding input share the same physical connector pin. Pins with TiedToOutput set to 1 can be used as an output or input. Note Make sure that output and input are not enabled at the same time. In order to use a pin as an input (e.g. for external trigger), its output driver (e.g. IntEna) needs to be switched off. IO_INP_CTRL 1 The Polarity field determines whether the input is inverted (0) or not (1). See Table 39: Input configuration register on page 107. The InputMode field can be seen in the following table. The PinState field is used to query the current status of the input. 107

108 Camera interfaces Input modes ID Mode Default 0x00 Off 0x01 Reserved 0x02 Trigger input Input 1 0x03 Reserved 0x04 Reserved 0x05 Reserved 0x06..0x0F Reserved 0x10..0x1F Reserved Table 40: Input routing Trigger delay The cameras feature various ways to delay image capture based on external trigger. With IIDC V1.31 there is a standard CSR at register F0F00534/834h to control a delay up to FFFh x timebase value. The following table explains the Inquiry register and the meaning of the various bits. 108

109 Camera interfaces Register Name Field Bit Description 0xF0F00534 TRIGGER_DELAY_INQUIRY Presence_Inq [0] Indicates presence of this feature (read only) Abs_Control_Inq [1] Capability of control with absolute value - [2] Reserved One_Push_Inq [3] One-push auto mode (Controlled automatically by the camera once) Readout_Inq [4] Capability of reading out the value of this feature ON_OFF [5] Capability of switching this feature ON and OFF Auto_Inq [6] Auto Mode (Controlled automatically by the camera) Manual_Inq [7] Manual Mode (Controlled by user) Min_Value [8..19] Min. value for this feature Max_Value [20..31] Max. value for this feature Table 41: Trigger_Delay_Inquiry register 109

110 Camera interfaces Register Name Field Bit Description 0xF0F00834 TRIGGER_DELAY Presence_Inq [0] Presence of this feature: 0: Not available 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..5] Reserved ON_OFF [6] Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 - [7..19] Reserved Value [20..31] Value Table 42: Trigger Delay CSR In addition, the cameras have an advanced register which allows even more precise delay of image capture after receiving a hardware trigger. Trigger delay advanced register Register Name Field Bit Description 0xF TRIGGER_DELAY Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] - ON_OFF [6] Trigger delay on/off --- [7..10] - DelayTime [11..31] Delay time in µs Table 43: Trigger Delay Advanced CSR The advanced register allows the start of the integration to be delayed by max µs, which is max. 2.1 s after a trigger edge was detected. 110

111 Camera interfaces Note This feature works with external Trigger_Mode_0 only. Outputs The standard Guppy camera has 3 inverting outputs. Outputs Output voltage Output current Operating Conditions V Max. ± 20 ma Table 44: Output characteristics Output features are configured by software. Any signal can be placed on any output. The main features of output signals are described below: Signal IntEna (Integration Enable) signal Fval (Frame valid) signal Busy signal Description This signal displays the time in which exposure was made. By using a register this output can be delayed up to 1.05 seconds. This feature signals readout from the sensor. This signal Fval follows IntEna. This signal appears when: the exposure is being made or the sensor is being read out or data transmission is active. Table 45: Output signals 111

112 Camera interfaces Figure 51: Output block diagram Note The following signals are high active: IntEna, FVal, Busy, Follow Input, Direct. 112

113 Camera interfaces IO_OUTP_CTRL 1-3 The outputs are controlled via 3 advanced feature registers. Only board level cameras: The outputs are controlled via 4 advanced feature registers. The Polarity field determines whether the output is inverted (1) or not (0). The Output mode can be viewed in the table below. The current status of the output can be queried and set via the PinState. It is possible to read back the status of an output pin regardless of the output mode. This allows for example the host computer to determine if the camera is busy by simply polling the BUSY output. Register Name Field Bit Description 0xF IO_OUTP_CTRL1 Presence_Inq [0] Indicates presence of this feature (read only) PWMCapable [1] Only Guppy board level cameras: Indicates if an output pin supports the PWM feature. See Table 49: PWM configuration registers on page [2..6] Reserved Polarity [7] 0: Signal not inverted 1: Signal inverted --- [8..10] Reserved Output mode [11..15] Mode See Table 47: Output routing on page [16..30] Reserved PinState [31] RD: Current state of pin WR: New state of pin 0xF IO_OUTP_CTRL2 Same as IO_OUTP_CTRL1 0xF IO_OUTP_CTRL3 Same as IO_OUTP_CTRL1 0xF100032C IO_OUTP_CTRL4 Same as IO_OUTP_CTRL1 Only Guppy board level cameras Table 46: Output configuration register 113

114 Camera interfaces Output modes ID Mode Default 0x00 Off 0x01 Output state follows PinState bit 0x02 Integration enable Output 1 0x03 Reserved 0x04 Reserved 0x05 Reserved 0x06 FrameValid 0x07 Busy Output 2 0x08 Follow corresponding input (Inp1 Out1) 0x09 PWM (=pulse-width modulation) Only Guppy board level cameras 0x0A..0x1F Reserved Table 47: Output routing Note The output mode 0x08 is not available for output pins directly tied to an input pin. The Polarity setting refers to the input side of the inverting driver. 114

115 Camera interfaces External Trigger Input, falling edge Trigger_Mode_0 Delay set by register Trigger_Delay + offset Integration_Enable (IntEna) Delay set by register IntEna_Delay IntEna delayed Frame_Valid (Fval) Busy Figure 52: Output impulse diagram See also Chapter Jitter at start of exposure on page 136. Offsets are camera specific. For more information read Chapter Camera offsets on page 130. Note The signals can be inverted. Caution Firing a new trigger while IntEna is still active can result in image corruption due to double exposure occurring. 115

116 Camera interfaces Note Note that trigger delay in fact delays the image capture whereas the IntEna_Delay only delays the leading edge of the IntEna output signal but does not delay the image capture. As mentioned before, it is possible to set the outputs by software. Doing so, the achievable maximum frequency is strongly dependent on individual software capabilities. As a rule of thumb, the camera itself will limit the toggle frequency to not more than 700 Hz. Board level cameras: inputs and outputs The following Guppy board level cameras are available: Guppy board level camera Guppy F-033B BL Guppy F-033C BL Guppy F-080B BL Guppy F-080B BL Description Board level version of Guppy F-033B Board level version of Guppy F-033C Board level version of Guppy F-080B Board level version of Guppy F-080C Table 48: Guppy board level cameras Guppy board level cameras have physically 4 I/Os and logically 4 inputs and 4 outputs: Outputs can be disabled in the Output Control Register via 0x00 (register 0xF bit ). Inputs are always enabled. Driver V cc FPGA Output Pin Driver Enable Figure 53: Input/output block diagram 116

117 Camera interfaces Board level cameras: pulse-width modulation The 4 inputs and 4 outputs are independent. Each output has pulse-width modulation (PWM) capabilities, which can be used (with additional external electronics) for motorized speed control or autofocus control. Period (in µs) and pulse width (in µs) are adjustable via the following registers (see also examples in Chapter PWM: Examples in practice on page 118): Register Name Field Bit Description 0xF IO_OUTP_PWM1 Presence_Inq [0] Indicates presence of this feature (read only) --- [1] Reserved --- [2..3] Reserved MinPeriod [4..19] Minimum PWM period in µs (read only) --- [20..27] Reserved --- [28..31] Reserved 0xF PulseWidth [0..15] PWM pulse width in µs Period [16..31] PWM period in µs 0xF IO_OUTP_PWM2 Same as IO_OUTP_PWM1 0xF100080C IO_OUTP_PWM3 Same as IO_OUTP_PWM1 0xF IO_OUTP_PWM4 Same as IO_OUTP_PWM1 Table 49: PWM configuration registers To enable the PWM feature select output mode 0x09. Control the signal state via the PulseWidth and Period fields (all times in microseconds (µs)). Period PulseWidth Figure 54: PulseWidth and Period definition 117

118 Camera interfaces Note Note the following conditions: PulseWidth < Period Period MinPeriod PWM: minimal and maximal periods and frequencies In the following formulas you find the minimal/maximal periods and frequencies for the pulse-width modulation (PWM). period min = 3µs 1 frequency max = = = kHz period min 3µs frequency min = = 15.26Hz s 1 period max = = 2 16 µs frequency min Formula 1: Minimal/maximal period and frequency PWM: Examples in practice In this chapter we give you two examples, how to write values in the PWM registers. All values have to be written in microseconds (µs) in the PWM registers, therefore remember always the factor 10-6 s. Example 1: Set PWM with 1kHz at 30% pulse width. RegPeriod = = = frequency 10 s 1kHz 10 s RegPulseWidth = RegPeriod 30% = % = 300 Formula 2: PWM example 1 118

119 Camera interfaces Example 2: Set PWM with 250 Hz at 12% pulse width. RegPeriod 1 1 = = = frequency 10 s 250Hz 10 s RegPulseWidth = RegPeriod 12% = % = 480 Formula 3: PWM example 2 119

120 Camera interfaces Pixel data Pixel data are transmitted as isochronous data packets in accordance with the 1394 interface described in IIDC V1.3. The first packet of a frame is identified by the 1 in the sync bit (sy) of the packet header. Figure 55: Isochronous data block packet format: Source: IIDC V1.3 The video data for each pixel are output in 8-bit format. Each pixel has a range of 256 shades of gray. The digital value 0 is black and 255 is white. The following table provides a description of the video data format for the different modes. (Source: IIDC V1.3.1 specification) Figure 56: YUV 4:2:2 and YUV 4:1:1 format: Source: IIDC V

121 Camera interfaces Figure 57: Y8 and Y16 format: Source: IIDC V

122 Camera interfaces Figure 58: Data structure: Source: IIDC V

123 Controlling image capture Controlling image capture Global shutter The cameras support the SHUTTER_MODES specified in IIDC V1.3. For all models this shutter is a global shutter; meaning that all pixels are exposed to the light at the same moment and for the same time span. In continuous modes the shutter is opened shortly before the vertical reset happens, thus acting in a frame-synchronous way. Combined with an external trigger, it becomes asynchronous in the sense that it occurs whenever the external trigger occurs. Individual images are recorded when an external trigger impulse is present. This ensures that even fast-moving objects can be grabbed with no image lag and with minimal image blur. The external trigger comes in as a TTL signal through Pin 4 of the camera I/O connector. Pipelined global shutter The CMOS Guppy F-036 (Micron CMOS sensor MT9V022) has a pipelined global shutter with simultaneous integration and readout. 123

124 Controlling image capture Trigger modi The cameras support IIDC-conforming Trigger_Mode_0 and Trigger_Mode_1 and special Trigger_Mode_15. Trigger_Mode_0 sets the shutter time according to the value set in the shutter (or extended shutter) register. Trigger_Mode_1 sets the shutter time according to the active low time of the pulse applied (or active high time in the case of an inverting input). External Trigger input, as applied at input pin, trigger falling edge Shutter register value External Trigger input, as applied at input pin Integration Time Figure 59: Trigger_mode_0 and 1 124

125 Controlling image capture Trigger_Mode_15 is a bulk trigger, combining one external trigger event with continuous or one-shot or multi-shot internal trigger. It is an extension to the IIDC trigger modes. One external trigger event can be used to trigger a multitude of internal image intakes. This is especially useful for: Grabbing exactly one image based on the first external trigger. Filling the camera's internal image buffer with one external trigger without overriding images. Grabbing an unlimited number of images after one external trigger (Surveillance) The next diagram shows this mode in detail. External Trigger input, as applied at input pin N x image; N: continuous, one_shot, multi_shot Figure 60: Trigger_Mode_15 125

126 Controlling image capture The functionality is controlled via bit [6] and bitgroup [12-15] of the IIDC register: Register Name Field Bit Description 0xF0F00830 TRIGGER_MODE Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..5] Reserved ON_OFF [6] Write ON or OFF this feature ON=1 Read: Status of the feature OFF=0 Trigger_Polarity [7] If Polarity_Inq = 1: W: 0 for low active input 1 for high active input If Polarity_Inq = 0: Read only Trigger_Source [8..10] Select trigger source ID from trigger source ID_Inq. Trigger_Value [11] Trigger input raw signal value (read only) Trigger_Mode [12..15] Trigger_Mode (0-15) - [16..19] Reserved Parameter [20..31] Parameter for trigger function, if required Table 50: Trigger_Mode_15 The screenshots below illustrate the use of Trigger_Mode_15 on a register level: 126

127 Controlling image capture The first line switches continuous mode off, leaving viewer in listen mode. The second line prepares 830h register for external trigger and Mode_15. Left Middle Right The last line switches camera back to continuous mode. Only one image is grabbed precisely with the first external trigger. To repeat rewrite line three. Toggle One_Shot bit [0] of the One_Shot register 61C so that only one image is grabbed, based on the first external trigger. To repeat rewrite line three. Table 51: Description of screenshots Toggle Multi_Shot bit [1] of the One_Shot register 61C so that Ah images are grabbed, starting with the first external trigger. To repeat rewrite line three. Figure 61: Using Trigger_Mode_15: Continuous, one-shot, multi-shot Note Shutter for the images is controlled by shutter register. Trigger delay As already mentioned earlier, the cameras feature various ways to delay image capture based on external trigger. With IIDC V1.31 there is a standard CSR at Register F0F00534/834h to control a delay up to FFFh x timebase value. The following table explains the inquiry register and the meaning of the various bits. 127

128 Controlling image capture Register Name Field Bit Description 0xF0F00534 TRIGGER_DELAY_INQUIRY Presence_Inq [0] Indicates presence of this feature (read only) Abs_Control_Inq [1] Capability of control with absolute value - [2] Reserved One_Push_Inq [3] One-push auto mode (Controlled automatically by the camera once) Readout_Inq [4] Capability of reading out the value of this feature ON_OFF [5] Capability of switching this feature ON and OFF Auto_Inq [6] Auto Mode (Controlled automatically by the camera) Manual_Inq [7] Manual Mode (Controlled by user) Min_Value [8..19] Min. value for this feature Max_Value [20..31] Max. value for this feature Table 52: Trigger_Delay_Inquiry register Name Field Bit Description 0xF0F00834 TRIGGER_DELAY Presence_Inq [0] Presence of this feature: 0:N/A 1:Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..5] Reserved ON_OFF [6] Write ON or OFF this feature, ON=1 Read: Status of the feature OFF=0 - [7..19] Reserved Value [20..31] Value Table 53: Trigger Delay CSR 128

129 Controlling image capture In addition, the cameras have an advanced register which allows even more precise delay of image capture after receiving a hardware trigger. Trigger delay advanced register Register Name Field Bit Description 0xF TRIGGER_DELAY Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] - ON_OFF [6] Trigger delay on/off --- [7..10] - DelayTime [11..31] Delay time in µs Table 54: Trigger Delay Advanced CSR The advanced register allows the start of the integration to be delayed by max µs, which is max. 2.1 s after a trigger edge was detected. Note Switching trigger delay to ON also switches external Trigger_Mode_0 to ON. This feature works with external Trigger_Mode_0 only. 129

130 Controlling image capture Exposure time (shutter) and offset The exposure (shutter) time for continuous mode and Trigger_Mode_0 is based on the following formula: Shutter register value x timebase + offset The register value is the value set in the corresponding IIDC register (SHUTTER [81Ch]). This number is in the range between 1 and The shutter register value is multiplied by the time base register value (see Table 97: Time base ID on page 193). The default value here is set to 20 µs. Exposure time of CMOS sensor (GUPPY F-036) The CMOS sensor of GUPPY F-036 enables shutter times in integer multiples of the row time (29.89 µs). Note Although you can enter shutter register values as usual, the camera will round down to integer multiples of the row time. Example GUPPY F-036 Set Shutter register: x 20 µs = 2000 µs 2000 µs/29.89 µs = Effective shutter: 66 x µs = µs (without offset) Camera offsets A camera-specific offset is also added to this value. It is different for the camera models: Camera model Offset GUPPY F-025 tbd µs GUPPY F-029 tbd µs GUPPY F µs GUPPY F µs GUPPY F µs GUPPY F µs Table 55: Camera-specific offset 130

131 Controlling image capture Example GUPPY F-033 Camera Register value Timebase GUPPY F µs Table 56: Register value and Timebase for GUPPY F x 20 µs µs = µs exposure time The minimum adjustable exposure time set by register is 20 µs. The real minimum exposure time of GUPPY F-033 is then 20 µs µs = µs. Extended shutter The exposure time for long-term integration of up to 67 seconds for the CCDmodels and up to 979 ms for the CMOS models can be extended via the EXTENDED_SHUTTER register. Register Name Field Bit Description 0xF100020C EXTD_SHUTTER Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] ExpTime [6..31] Exposure time in µs Table 57: Extended shutter configuration The longest exposure time, 3FFFFFFh, corresponds to sec. Note Exposure times entered via the 81Ch register are mirrored in the extended register, but not vice versa. Longer integration times not only increase sensitivity, but may also increase some unwanted effects such as noise and pixel-to-pixel non-uniformity. Depending on the application, these effects may limit the longest usable integration time. Changes in this register have immediate effect, even when the camera is transmitting. Extended shutter becomes inactive after writing to a format/mode/frame rate register. 131

132 Controlling image capture One-Shot The camera can record an image by setting the one-shot bit in the 61Ch register. This bit is automatically cleared after the image is captured. If the camera is placed in Iso_Enable mode (see Chapter ISO_Enable / Free-Run on page 135), this flag is ignored. If one-shot mode is combined with the external trigger, the one-shot command is used to arm it. The following screenshot shows the sequence of commands needed to put the camera into this mode. It enables the camera to grab exactly one image with an external trigger edge. If there is no trigger impulse after the camera has been armed, one-shot can be cancelled by clearing the bit. Figure 62: One-shot control (SmartView) # Read/ Address Value Description Write 7 wr F0F0061C Do one-shot. 6 rd F0F0061C Read out one-shot register. 5 wr F0F Switch on external trigger mode 0. 4 rd F0F Check trigger status. Table 58: One-shot control: descriptions 132

133 Controlling image capture # Read/ Write Address Value Description 3 wr F0F Stop Free-run. 2 rd F0F Check Iso_Enable mode ( Free-run). 1 rd F0F This line is produced by SmartView. Table 58: One-shot control: descriptions One-shot command on the bus to start of exposure The following sections describe the time response of the camera using a single frame (one-shot) command. As set out in the IIDC specification, this is a software command that causes the camera to record and transmit a single frame. The following values apply only when the camera is idle and ready for use. Full resolution must also be set. Feature One-shot Microcontroller-Sync Value µc-sync/exsync Integration-Start 8 µs 250 µs (processing time in the microcontroller) Table 59: Values for one-shot Microcontroller-Sync is an internal signal. It is generated by the microcontroller to initiate a trigger. This can either be a direct trigger or a release for ExSync if the camera is externally triggered. End of exposure to first packet on the bus After the exposure, the CCD or CMOS sensor is read out; some data is written into a small FiFo buffer before being transmitted to the bus. The time from the end of exposure to the start of transport on the bus is: 500 µs ± 62.5 µs This time 'jitters' with the cycle time of the bus (125 µs). 133

134 Controlling image capture < 250 s 8 s Timebase x Shutter + Offset = Exposure Time Guppy F s Guppy F-036: µs Guppy F-046: s Guppy F-080: s 500 s +/-62.5 s Figure 63: Data flow and timing after end of exposure tbd Camera Offset Description GUPPY F-025 tbd GUPPY F-029 tbd GUPPY F µs GUPPY F µs GUPPY F µs GUPPY F µs Table 60: Timing after end of exposure 134

135 Controlling image capture Multi-shot Setting multi-shot and entering a quantity of images in Count_Number in the 61Ch register enables the camera to record a specified number of images. The number is indicated in bits 16 to 31. If the camera is put into Iso_Enable mode (see Chapter ISO_Enable / Free-Run on page 135), this flag is ignored and deleted automatically once all the images have been recorded. If multi-shot mode is activated and the images have not yet all been captured, it can be cancelled by resetting the flag. The same result can be achieved by setting the number of images to 0. Multi-shot can also be combined with the external trigger in order to grab a certain number of images based on an external trigger. ISO_Enable / Free-Run Setting the MSB (bit 0) in the 614h register (ISO_ENA) puts the camera into ISO_Enable mode or Continuous_Shot. The camera captures an infinite series of images. This operation can be quit by deleting the 0 bit. Asynchronous broadcast The camera accepts asynchronous broadcasts. This involves asynchronous write requests that use node number 63 as the target node with no acknowledge. This makes it possible for all cameras on a bus to be triggered by software simultaneously - e.g. by broadcasting a one-shot. All cameras receive the one-shot command in the same IEEE 1394 bus cycle. This creates uncertainty for all cameras in the range of 125 µs. Inter-camera latency is described in Chapter Jitter at start of exposure on page 136. The following screenshot shows an example of broadcast commands sent with the Firedemo example of FirePackage (version 1V51 or newer): 135

136 Controlling image capture Figure 64: Broadcast one-shot Line 1 shows the broadcast command, which stops all cameras connected to the same IEEE 1394 bus. It is generated by holding the Shift key down while clicking on Write. Line 2 generates a broadcast one-shot in the same way, which forces all connected cameras to simultaneously grab one image. Jitter at start of exposure The following chapter discusses the latency time which exists for all CCD models when either a hardware or software trigger is generated, until the actual image exposure starts. Owing to the well-known fact that an Interline Transfer CCD sensor has both a light sensitive area and a separate storage area, it is common to interleave image exposure of a new frame and output that of the previous one. It makes continuous image flow possible, even with an external trigger. The Micron CMOS sensor of the GUPPY F-036 uses a pipelined global shutter, thus imitating the separate light sensitive and storage area of a CCD. For the CCDs the uncertainty time delay before the start of exposure depends on the state of the sensor. A distinction is made as follows: FVal is active the sensor is reading out, the camera is busy In this case the camera must not change horizontal timing so that the trigger event is synchronized with the current horizontal clock. This introduces a max. uncertainty which is equivalent to the line time. The row time depends on the sensor used and therefore can vary from model to model. FVal is inactive the sensor is ready, the camera is idle 136

137 Controlling image capture In this case the camera can resynchronize the horizontal clock to the new trigger event, leaving only a very short uncertainty time of the master clock period. Model Camera idle Camera busy Guppy F-025 tbd ns tbd µs Guppy F-029 tbd ns tbd µs Guppy F ns µs Guppy F µs µs Guppy F ns µs Guppy F ns µs Table 61: Jitter at exposure start Note Jitter at the beginning of an exposure has no effect on the length of exposure, i.e. it is always constant. User profiles User profiles are also known as memory channels from the IIDC specifications. The feature is described in Chapter User profiles on page

138 Video formats, modes and bandwidth Video formats, modes and bandwidth The different GUPPY models support different video formats, modes and frame rates. These formats and modes are standardized in the IIDC (formerly DCAM) specification. Resolutions smaller than the generic sensor resolution are generated from the center of the sensor and without binning. Note The maximum frame rates can only be achieved with shutter settings lower than 1/framerate. This means that with default shutter time of 40 ms, a camera will not achieve frame rates higher than 25 frames/s. In order to achieve higher frame rates, please reduce the shutter time proportionally. Tables assume that bus speed is 400 Mbit/s. With lower bus speeds (e.g. 200 or 100 Mbit/s) not all frame rates may be achieved. GUPPY F-025B / GUPPY F-025C tbd GUPPY F-029B / GUPPY F-029C tbd 138

139 Video formats, modes and bandwidth GUPPY F-033B/ GUPPY F-033C and board level versions F-033B BL/F-033C BL Format Mode Resolution 60 fps 0 30 fps 15 fps 7.5 fps 3.75 fps x 120 YUV x 240 YUV x 480 YUV x 480 YUV x 480 RGB x 480 MONO8 x x* x x* x x* x x* x x* x 480 MONO fps x 494 MONO8 656 x 494 Raw fps Table 62: Video formats Guppy F-033B / Guppy F-033C and board level versions *: Color camera outputs RAW image, which needs to be converted outside of camera. 139

140 Video formats, modes and bandwidth GUPPY F-036B/ GUPPY F-036C Format Mode Resolution 60 fps 30 fps 15 fps 7.5 fps 3.75 fps fps x 120 YUV x 240 YUV x 480 YUV x 480 YUV x 480 RGB x 480 MONO8 x x* x x* x x* x 480 MONO x 480 MONO8 752 x 480 fps x 480 fps, 2 x H-binning average x 240 fps, 2 x V-binning average x 240 fps, 2 x full binning average x 480 fps, 4 x H-binning average x 120 fps, 4 x V-binning average x 120 fps, 4 x full binning average Table 63: Video formats Guppy F-036B / Guppy F-036C *: Color camera outputs RAW image, which needs to be converted outside of camera. Note The CMOS sensor does not support frame rates below 10 fps. Therefore 7.5 and 3.75 fps are not selectable in fixed formats. In Format_7 this implies that there is a minimum byte_per_packet setting. 140

141 Video formats, modes and bandwidth GUPPY F-046B / GUPPY F-046C Format Mode Resolution 60 fps 0 30 fps 15 fps 7.5 fps 3.75 fps x 120 YUV x 240 YUV x 480 YUV x 480 YUV x 480 RGB x 480 MONO8 x x* x x* x x* x x* x x* x 480 MONO fps x 582 MONO8 780 x 582 Raw fps Table 64: Video formats Guppy F-046B / Guppy F-046C *: Color camera outputs RAW image, which needs to be converted outside of camera. 141

142 Video formats, modes and bandwidth GUPPY F-080B / GUPPY F-080C and board level versions F-080B BL/F-080C BL Format Mode Resolution 60 fps 0 30 fps 15 fps 7.5 fps 3.75 fps x 120 YUV x 240 YUV x 480 YUV x 480 YUV x 480 RGB x 480 MONO8 x x* x x* x x* x x* x 480 MONO fps x 600 YUV x 600 RGB x 600 MONO8 x x* x x* x x* x 768 YUV x 768 RGB x 768 MONO8 x x* x x* x x* x x* x 600 MONO x 768 MONO x 778 MONO x 778 Raw fps Table 65: Video formats Guppy F-080B / Guppy F-080C *: Color camera outputs RAW image, which needs to be converted outside of camera. 142

143 Video formats, modes and bandwidth Area of interest (AOI) The cameras image sensor has a defined resolution. This indicates the maximum number of lines and pixels per line that the recorded image may have. However, often only a certain section of the entire image is of interest. The amount of data to be transferred can be decreased by limiting the image to a section when reading it out from the camera. At a lower vertical resolution the sensor can be read out faster and thus the frame rate is increased. Note The setting of AOIs is supported only in video Format_7. While the size of the image read out for most other video formats and modes is fixed by the IIDC specification, thereby determining the highest possible frame rate, in Format_7 mode the user can set the upper left corner and width and height of the section (Area of Interest = AOI) he is interested in to determine the size and thus the highest possible frame rate. Setting the AOI is done in the IMAGE_POSITION and IMAGE_SIZE registers. Note Attention should be paid to the increments entered in the UNIT_SIZE_INQ and UNIT_POSITION_INQ registers when configuring IMAGE_POSITION and IMAGE_SIZE. IMAGE_POSITION and IMAGE_SIZE contain the respective bits values for the column and line of the upper left corner and values for the width and height. 143

144 Video formats, modes and bandwidth Figure 65: Area of interest (AOI) Note The left position + width and the upper position + height may not exceed the maximum resolution of the sensor. The coordinates for width and height must be divisible by 4. The minimum AOI of the Guppy F036 is limited to 92 x 60 pixels. In addition to the area of interest, some other parameters have an effect on the maximum frame rate: Time for reading the image from the sensor and transporting it into the FRAME_BUFFER Time for transferring the image over the FireWire bus Length of the exposure time. 144

145 Video formats, modes and bandwidth Autofunction AOI Use this feature to select the image area (work area) on which the following autofunctions work: Auto shutter Auto gain Auto white balance Note Auto gain of CMOS models is directly controlled by the CMOS sensor (the target grey level is fixed to 125). Autofunction AOI does not work with auto gain. Auto exposure works in conjunction with auto shutter only and therefore works also with autofunction AOI. In the following screenshot you can see an example of the autofunction AOI: Work area Figure 66: Example of autofunction AOI (Show work area is on) Note For more information see Chapter Autofunction AOI on page

146 Video formats, modes and bandwidth Frame rates An IEEE 1394 camera requires bandwidth to transport images. The IEEE 1394a bus has very large bandwidth of at least 32 MB/s for transferring (isochronously) image data. Per cycle up to 4096 bytes (or around 1000 quadlets = 4 bytes@ 400 Mbit/s) can thus be transmitted. Depending on the video format settings and the configured frame rate, the camera requires a certain percentage of maximum available bandwidth. Clearly, the bigger the image and the higher the frame rate, the more data requires transmission. The following tables indicate the volume of data in various formats and modes to be sent within one cycle (125 µs) at 400 Mbit/s of bandwidth. The tables are divided into three formats; F_0 up to VGA, F_1 up to XGA, and F_2 up to UXGA. They enable you to calculate the required bandwidth and to ascertain the number of cameras that can be operated independently on a bus and in which mode. Note If the cameras are operated with an external trigger the maximum trigger frequency may not exceed the highest continuous frame rate, thus preventing frames from being dropped or corrupted. IEEE 1394 adapter cards with PCILynx chipsets have a limit of 4000 bytes per cycle. The frame rates in video modes 0 to 2 are specified, and settings are fixed by IIDC V1.3. In video Format_7 frame rates are no longer fixed. Note Different values apply for the different sensors. Frame rates may be further limited by longer shutter times and/or bandwidth limitation from the IEEE 1394 bus. GUPPY F-025 tbd GUPPY F-029 tbd 146

147 Video formats, modes and bandwidth GUPPY F-033 and board level versions Frame rate = f(aoi height) Frame rate / fps AOI height / pixel Table 66: Frame rates GUPPY F-033 and board level versions AOI height / pixel Frame rate / fps Table 67: Frame rates Guppy F-033 and board level versions 147

148 Video formats, modes and bandwidth GUPPY F-036 Frame rate = f(aoi height) Frame rate / fps AOI height / pixel Figure 67: Frame rates GUPPY F-036 as function of AOI height The frame rates in the following table are measured directly at the output of the camera. Compare with Chapter How does bandwidth affect the frame rate? on page 153. AOI height / pixel Frame rate / fps Table 68: Frame rates Guppy F-036 as function of AOI height Note The minimum AOI is 92 x 60 (AOI width x AOI height). The readout time for one row is constant. That means: the behavior of a CCD sensor is approximated. 148

149 Video formats, modes and bandwidth GUPPY F-046 Frame rate = f(aoi height) Frame rate / fps AOI height / pixel Figure 68: Frame rates Guppy F-046 as function of AOI height AOI height / pixel Frame rate / fps Table 69: Frame rates Guppy F

150 Video formats, modes and bandwidth AOI height / pixel Frame rate / fps Table 69: Frame rates Guppy F

151 Video formats, modes and bandwidth GUPPY F-080 and board level versions Frame rate = f(aoi height) Guppy F-080 Guppy F-080 BL Frame rate / fps AOI height / pixel Figure 69: Frame rates GUPPY F-080 and board level versions AOI height / pixel Frame rate / fps Guppy F-080 Frame rate / fps Guppy F-080 BL Table 70: Frame rates GUPPY F-080 and board level versions 151

152 Video formats, modes and bandwidth AOI height / pixel Frame rate / fps Guppy F-080 Frame rate / fps Guppy F-080 BL Table 70: Frame rates GUPPY F-080 and board level versions 152

153 How does bandwidth affect the frame rate? How does bandwidth affect the frame rate? In some modes the IEEE 1394a bus limits the attainable frame rate. According to the 1394a specification on isochronous transfer, the largest data payload size of 4096 bytes per 125 µs cycle is possible with bandwidth of 400 Mbit/s. In addition, because of a limitation in an IEEE 1394 module (GP2Lynx), only a maximum number of 4095 packets per frame are allowed. The following formula establishes the relationship between the required Byte_Per_Packet size and certain variables for the image. It is valid only for Format_7. BYTE_PER_PACKET = frame rate x AOIWidth x AOIHEIGHT x ByteDepth x 125µs Formula 4: Byte_per_Packet calculation (only Format_7) If the value for BYTE_PER_PACKET is greater than 4096 (the maximum data payload), the sought-after frame rate cannot be attained. The attainable frame rate can be calculated using this formula: (Provision: BYTE_PER_PACKET is divisible by 4): framerate max BYTE_PER_PACKET AOIWidth x AOIHeight x ByteDepth x 125µs Formula 5: Max. frame rate calculation ByteDepth based on the following values: Mode Bits/pixel Byte per pixel Mono8 8 1 RAW8 8 1 Table 71: ByteDepth 153

154 How does bandwidth affect the frame rate? Example formula for the b/w camera Mono8, 1024 x 768, 15 fps desired BYTE_PER_PACKET = 15 x ( 1024 x 768) x 125µs = 1474 < frame rate reachable x 768 x 125µs = 41.6 Hz Formula 6: Example max. fps calculation A Frame rate of 15 fps can be achieved. frame rate reachable is not possible due to the sensor limit. Test images Loading test images FirePackage Direct FirePackage Fire4Linux 1. Start SmartView. 1. Start SmartView for WDM. 1. Start cc1394 viewer. 2. Click the Edit settings button. 3. Click Adv1 tab. 4. In combo box Test images choose Image 1 or another test image. 2. In Camera menu click Settings. 3. Click Adv1 tab. 4. In combo box Test images choose Image 1 or another test image. Table 72: Loading test images in different viewers Test images b/w cameras 2. In Adjustments menu click on Picture Control. 3. Click Main tab. 4. Activate Test image check box on. 5. In combo box Test images choose Image 1 or another test image. The b/w cameras have two test images that look the same. Both images show a gray bar running diagonally. One test image is static, the other moves upwards by 1 pixel/frame. 154

155 How does bandwidth affect the frame rate? Figure 70: Gray bar test image Gray value = ( x + y)mod256 ( 8-bit mode) Formula 7: Calculating the gray value 155

156 How does bandwidth affect the frame rate? Test images for color cameras The color cameras have 1 test image. Test image Test image 1 Description Mono8 (raw data) see screenshot below Table 73: Test image color cameras Note The color camera outputs Bayer-coded raw data in Mono8 instead of a real Y signal (as described in IIDC V1.3). The first pixel of the image is always the red pixel from the sensor. Test image 1 (Mono8 mode) without Debayering with Debayering Figure 71: Test image 1 156

157 Configuration of the camera Configuration of the camera All camera settings are made by writing specific values into the corresponding registers. This applies to: values for general operating states such as video formats and modes, exposure times, etc. extended features of the camera that are turned on and off and controlled via corresponding registers (so-called advanced registers). Camera_Status_Register The interoperability of cameras from different manufacturers is ensured by IIDC, formerly DCAM (Digital Camera Specification), published by the IEEE 1394 Trade Association. IIDC is primarily concerned with setting memory addresses (e.g. CSR: Camera_Status_Register) and their meaning. In principle all addresses in IEEE 1394 networks are 64 bits long. The first 10 bits describe the Bus_Id, the next 6 bits the Node_Id. Of the subsequent 48 bits, the first 16 are is always FFFFh, leaving the description for the Camera_Status_Register in the last 32 bits. If a CSR F0F00600h is mentioned below this means in full: Bus_Id, Node_Id, FFFF F0F00600h Writing and reading to and from the register can be done with programs such as FireView or by other programs developed using an API library (e.g. FirePackage). 157

158 Configuration of the camera Every register is 32 bit (big endian) and implemented as follows (MSB = Most Significant Bit; LSB = Least Significant Bit): Far left Bit 0 Bit 1 Bit 2... Bit 30 Bit 31 MSB LSB Table 74: 32-bit register Example This requires, for example, that to enable ISO_Enabled mode (see Chapter ISO_Enable / Free-Run on page 135), (bit 0 in register 614h), the value h must be written in the corresponding register. 158

159 Configuration of the camera Figure 72: Configuration of the camera Sample program The following sample code in C shows how the register is set for frame rate, video mode/format and trigger mode using the FireCtrl DLL from the FirePackage API. How the camera is switched into ISO_Enabled mode is also shown below: WriteQuad(m_cmdRegBase + CCR_FRAME-RATE, Frame-Rate << 29); WriteQuad(m_cmdRegBase + CCR_VMODE, mode << 29); WriteQuad(m_cmdRegBase + CCR_VFORMAT, format << 29); WriteQuad(m_cmdRegBase + CCR_TRGMODE, exttrigger? 0x : 0); Sleep(100); WriteQuad(m_cmdRegBase + CCR_ISOENABLE, 0x ); 159